{"id":"https://openalex.org/W4396823826","doi":"https://doi.org/10.1145/3658181","title":"Implicit Swept Volume SDF: Enabling Continuous Collision-Free Trajectory Generation for Arbitrary Shapes","display_name":"Implicit Swept Volume SDF: Enabling Continuous Collision-Free Trajectory Generation for Arbitrary Shapes","publication_year":2024,"publication_date":"2024-07-19","ids":{"openalex":"https://openalex.org/W4396823826","doi":"https://doi.org/10.1145/3658181"},"language":"en","primary_location":{"id":"doi:10.1145/3658181","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3658181","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2405.00362","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005321003","display_name":"J. Wang","orcid":"https://orcid.org/0009-0001-2865-6517"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jingping Wang","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032720309","display_name":"Tingrui Zhang","orcid":"https://orcid.org/0000-0003-2130-8226"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tingrui Zhang","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038142929","display_name":"Qixuan Zhang","orcid":"https://orcid.org/0000-0002-4837-7152"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qixuan Zhang","raw_affiliation_strings":["Deemos Technology, Shanghai, China","ShanghaiTech University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Deemos Technology, Shanghai, China","institution_ids":[]},{"raw_affiliation_string":"ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056815013","display_name":"Chuxiao Zeng","orcid":"https://orcid.org/0000-0001-9794-7599"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuxiao Zeng","raw_affiliation_strings":["Deemos Technology, Shanghai, China","ShanghaiTech University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Deemos Technology, Shanghai, China","institution_ids":[]},{"raw_affiliation_string":"ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101500646","display_name":"Jingyi Yu","orcid":"https://orcid.org/0000-0001-9198-6853"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingyi Yu","raw_affiliation_strings":["ShanghaiTech University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050543156","display_name":"Chao Xu","orcid":"https://orcid.org/0000-0002-2759-6364"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Xu","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100777698","display_name":"Lan Xu","orcid":"https://orcid.org/0000-0002-8807-7787"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lan Xu","raw_affiliation_strings":["ShanghaiTech University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"ShanghaiTech University, Shanghai, China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086914377","display_name":"Fei Gao","orcid":"https://orcid.org/0000-0002-6513-374X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Gao","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5005321003"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":4.7364,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.95981946,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"43","issue":"4","first_page":"1","last_page":"14"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7040188312530518},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6769993305206299},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.48114240169525146},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics","score":0.4645853340625763},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46382299065589905},{"id":"https://openalex.org/keywords/pointwise","display_name":"Pointwise","score":0.46332094073295593},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4603327214717865},{"id":"https://openalex.org/keywords/universality","display_name":"Universality (dynamical systems)","score":0.44407007098197937},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4434933364391327},{"id":"https://openalex.org/keywords/polyhedron","display_name":"Polyhedron","score":0.43676161766052246},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.42385995388031006},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4204701781272888},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4151880443096161},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4024430513381958},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3643253445625305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34605729579925537},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23064634203910828},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.2046714425086975},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14529329538345337}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7040188312530518},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6769993305206299},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.48114240169525146},{"id":"https://openalex.org/C77660652","wikidata":"https://www.wikidata.org/wiki/Q150971","display_name":"Computer graphics","level":2,"score":0.4645853340625763},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46382299065589905},{"id":"https://openalex.org/C2777984123","wikidata":"https://www.wikidata.org/wiki/Q9248237","display_name":"Pointwise","level":2,"score":0.46332094073295593},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4603327214717865},{"id":"https://openalex.org/C183992945","wikidata":"https://www.wikidata.org/wiki/Q2495574","display_name":"Universality (dynamical systems)","level":2,"score":0.44407007098197937},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4434933364391327},{"id":"https://openalex.org/C54829058","wikidata":"https://www.wikidata.org/wiki/Q172937","display_name":"Polyhedron","level":2,"score":0.43676161766052246},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.42385995388031006},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4204701781272888},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4151880443096161},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4024430513381958},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3643253445625305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34605729579925537},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23064634203910828},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2046714425086975},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14529329538345337},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3658181","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3658181","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2405.00362","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2405.00362","pdf_url":"https://arxiv.org/pdf/2405.00362","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2405.00362","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2405.00362","pdf_url":"https://arxiv.org/pdf/2405.00362","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1497695555","https://openalex.org/W1969483458","https://openalex.org/W1990292945","https://openalex.org/W2012594544","https://openalex.org/W2017258466","https://openalex.org/W2032070022","https://openalex.org/W2054585537","https://openalex.org/W2065385799","https://openalex.org/W2076321036","https://openalex.org/W2081200682","https://openalex.org/W2148387916","https://openalex.org/W2148852797","https://openalex.org/W2162991084","https://openalex.org/W2475322788","https://openalex.org/W2587415290","https://openalex.org/W2769498435","https://openalex.org/W2963215357","https://openalex.org/W3023986319","https://openalex.org/W3089354495","https://openalex.org/W3094186432","https://openalex.org/W3109028501","https://openalex.org/W3135798748","https://openalex.org/W3186966533","https://openalex.org/W3202938794","https://openalex.org/W4241087722","https://openalex.org/W4244739844","https://openalex.org/W4314946902","https://openalex.org/W4389539681","https://openalex.org/W4389665747","https://openalex.org/W4389665920"],"related_works":["https://openalex.org/W2916043681","https://openalex.org/W2896131632","https://openalex.org/W143502885","https://openalex.org/W42113618","https://openalex.org/W2522231841","https://openalex.org/W2103468410","https://openalex.org/W2391438543","https://openalex.org/W2008231869","https://openalex.org/W2480115405","https://openalex.org/W3197542402"],"abstract_inverted_index":{"In":[0],"the":[1,45,62,96,99,111,120,126,172,175],"field":[2],"of":[3,34,98,125,136,143,174],"trajectory":[4,57,71],"generation":[5,58],"for":[6,17,73,110,122,171],"objects,":[7],"ensuring":[8],"continuous":[9],"collision-free":[10],"motion":[11],"remains":[12],"a":[13,32,54,102,134],"huge":[14],"challenge,":[15],"especially":[16],"non-convex":[18],"geometries":[19],"and":[20,85,107,139,149,156],"complex":[21,137],"environments.":[22],"Previous":[23],"methods":[24],"either":[25],"oversimplify":[26],"object":[27],"shapes,":[28],"which":[29,42,60],"results":[30],"in":[31,90,133],"sacrifice":[33],"feasible":[35],"space":[36],"or":[37],"rely":[38],"on":[39],"discrete":[40],"sampling,":[41],"suffers":[43],"from":[44,83],"\"tunnel":[46],"effect\".":[47],"To":[48],"address":[49],"these":[50],"limitations,":[51],"we":[52,108],"propose":[53],"novel":[55],"hierarchical":[56],"pipeline,":[59],"utilizes":[61],"Swept":[63],"Volume":[64],"Signed":[65],"Distance":[66],"Field":[67],"(SVSDF)":[68],"to":[69,141,161],"guide":[70],"optimization":[72],"Continuous":[74],"Collision":[75],"Avoidance":[76],"(CCA).":[77],"Our":[78,128],"interdisciplinary":[79],"approach,":[80],"blending":[81],"techniques":[82],"graphics":[84],"robotics,":[86],"exhibits":[87],"outstanding":[88],"effectiveness":[89],"solving":[91],"this":[92],"problem.":[93],"We":[94],"formulate":[95],"computation":[97],"SVSDF":[100],"as":[101],"Generalized":[103],"Semi-Infinite":[104],"Programming":[105],"model,":[106],"solve":[109],"numerical":[112],"solutions":[113],"at":[114,169],"query":[115],"points":[116],"implicitly,":[117],"thereby":[118],"eliminating":[119],"need":[121],"explicit":[123],"reconstruction":[124],"surface.":[127],"algorithm":[129],"has":[130],"been":[131],"validated":[132],"variety":[135],"scenarios":[138],"applies":[140],"robots":[142],"various":[144],"dynamics,":[145],"including":[146],"both":[147],"rigid":[148],"deformable":[150],"shapes.":[151],"It":[152],"demonstrates":[153],"exceptional":[154],"universality":[155],"superior":[157],"CCA":[158],"performance":[159],"compared":[160],"typical":[162],"algorithms.":[163],"The":[164],"code":[165],"will":[166],"be":[167],"released":[168],"https://github.com/ZJU-FAST-Lab/Implicit-SVSDF-Planner":[170],"benefit":[173],"community.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
