{"id":"https://openalex.org/W2002564678","doi":"https://doi.org/10.1177/0278364912458464","title":"Time-optimal trajectories with bounded curvature in anisotropic media","display_name":"Time-optimal trajectories with bounded curvature in anisotropic media","publication_year":2012,"publication_date":"2012-09-11","ids":{"openalex":"https://openalex.org/W2002564678","doi":"https://doi.org/10.1177/0278364912458464","mag":"2002564678"},"language":"en","primary_location":{"id":"doi:10.1177/0278364912458464","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364912458464","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076757863","display_name":"Irina Dolinskaya","orcid":null},"institutions":[{"id":"https://openalex.org/I4210155590","display_name":"Management Sciences (United States)","ror":"https://ror.org/05shz5j84","country_code":"US","type":"company","lineage":["https://openalex.org/I4210155590"]},{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Irina S Dolinskaya","raw_affiliation_strings":["Department of Industrial Engineering and Management Sciences, Northwestern University, USA","Department of Industrial Engineering and Management Sciences, Northwestern University, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering and Management Sciences, Northwestern University, USA","institution_ids":["https://openalex.org/I111979921","https://openalex.org/I4210155590"]},{"raw_affiliation_string":"Department of Industrial Engineering and Management Sciences, Northwestern University, USA#TAB#","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005357612","display_name":"Alvaro Maggiar","orcid":"https://orcid.org/0000-0001-5545-6361"},"institutions":[{"id":"https://openalex.org/I4210155590","display_name":"Management Sciences (United States)","ror":"https://ror.org/05shz5j84","country_code":"US","type":"company","lineage":["https://openalex.org/I4210155590"]},{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alvaro Maggiar","raw_affiliation_strings":["Department of Industrial Engineering and Management Sciences, Northwestern University, USA","Department of Industrial Engineering and Management Sciences, Northwestern University, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering and Management Sciences, Northwestern University, USA","institution_ids":["https://openalex.org/I111979921","https://openalex.org/I4210155590"]},{"raw_affiliation_string":"Department of Industrial Engineering and Management Sciences, Northwestern University, USA#TAB#","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5076757863"],"corresponding_institution_ids":["https://openalex.org/I111979921","https://openalex.org/I4210155590"],"apc_list":null,"apc_paid":null,"fwci":3.3325,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.93003437,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"31","issue":"14","first_page":"1761","last_page":"1793"},"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/T12158","display_name":"Guidance and Control Systems","score":0.9926999807357788,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/bounded-function","display_name":"Bounded function","score":0.6306164860725403},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.571555495262146},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5655578970909119},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5495032072067261},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.5420171022415161},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5266470909118652},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.47686704993247986},{"id":"https://openalex.org/keywords/radius","display_name":"RADIUS","score":0.45476678013801575},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.43463751673698425},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.38637107610702515},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.23769411444664001},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19590440392494202},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.08270126581192017}],"concepts":[{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6306164860725403},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.571555495262146},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5655578970909119},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5495032072067261},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.5420171022415161},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5266470909118652},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.47686704993247986},{"id":"https://openalex.org/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.45476678013801575},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.43463751673698425},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.38637107610702515},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.23769411444664001},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19590440392494202},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.08270126581192017},{"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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364912458464","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364912458464","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.719.4100","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.719.4100","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://users.iems.northwestern.edu/%7Edolira/dolinskaya-maggiar-12-02.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.75,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W16067380","https://openalex.org/W50548338","https://openalex.org/W1587799944","https://openalex.org/W1971998222","https://openalex.org/W1979699070","https://openalex.org/W1988583014","https://openalex.org/W2030632579","https://openalex.org/W2032204682","https://openalex.org/W2034935091","https://openalex.org/W2043437910","https://openalex.org/W2052093849","https://openalex.org/W2055014394","https://openalex.org/W2058786336","https://openalex.org/W2062835278","https://openalex.org/W2077219618","https://openalex.org/W2078536073","https://openalex.org/W2082234445","https://openalex.org/W2085015797","https://openalex.org/W2094296595","https://openalex.org/W2113755254","https://openalex.org/W2125318536","https://openalex.org/W2131339983","https://openalex.org/W2132242891","https://openalex.org/W2152702644","https://openalex.org/W2160536087","https://openalex.org/W2161965271","https://openalex.org/W2166500251","https://openalex.org/W2188842548","https://openalex.org/W2313274380","https://openalex.org/W2328791155","https://openalex.org/W2334591577","https://openalex.org/W2460210458","https://openalex.org/W2474788024","https://openalex.org/W3021892057","https://openalex.org/W3206777520","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2300368007","https://openalex.org/W2542872497","https://openalex.org/W2382606910","https://openalex.org/W4316038845","https://openalex.org/W2026231200","https://openalex.org/W72104391","https://openalex.org/W2068832901","https://openalex.org/W2170796892","https://openalex.org/W1981637300","https://openalex.org/W3084048196"],"abstract_inverted_index":{"This":[0],"paper":[1],"characterizes":[2],"time-optimal":[3],"trajectories":[4],"in":[5,30,164],"anisotropic":[6],"(direction-dependent)":[7],"environments":[8],"where":[9,133],"path":[10,117,126,171],"curvatures":[11],"are":[12,27],"bounded":[13,66],"by":[14],"the":[15,18,31,56,62,85,96,104,107,128,155,173,178,195],"inverse":[16],"of":[17,21,33,55,98,103,124,127],"minimum-turning":[19,73,90],"radius":[20,91],"a":[22,40,53,122,125,138,145,151],"mobile":[23,41],"agent.":[24],"Such":[25],"problems":[26,83],"often":[28],"faced":[29],"navigation":[32],"aerial,":[34],"ground":[35],"and":[36,72,79,89,101,141,161],"naval":[37],"vehicles":[38],"when":[39],"agent":[42],"cannot":[43],"instantaneously":[44],"change":[45],"its":[46],"heading":[47],"angle.":[48],"The":[49],"work":[50],"presented":[51],"is":[52,121,159,200],"generalization":[54],"Dubins":[57,179],"car":[58],"problem,":[59],"which":[60],"considers":[61],"fastest":[63],"paths":[64],"with":[65,172],"curvature":[67],"while":[68],"assuming":[69],"constant":[70],"speed":[71,88,156,197],"radius.":[74],"We":[75,110,148],"relax":[76],"this":[77],"assumption":[78],"discuss":[80],"fastest-path":[81],"finding":[82],"for":[84,95,177,194],"generalized":[86],"direction-dependent":[87],"functions,":[92],"to":[93],"account":[94],"effects":[97],"waves,":[99],"winds":[100],"slope":[102],"terrain":[105],"on":[106],"agent\u2019s":[108],"motions.":[109],"establish":[111],"that":[112,119,163,165,190],"there":[113,167],"exists":[114,168],"an":[115,169],"optimal":[116,170],"such":[118],"it":[120],"portion":[123],"type":[129],"[Formula:":[130,134,142,181,185],"see":[131,135,143,182,186],"text]":[132,136,144,183],"denotes":[137],"sharpest-turn":[139],"curve":[140],"straight-line":[146],"segment.":[147],"further":[149],"analyze":[150],"special":[152],"case":[153,166],"wherein":[154],"polar":[157,198],"plot":[158,199],"convex,":[160],"show":[162],"same":[174],"structure":[175],"as":[176],"problem:":[180],"or":[184],"text].":[187],"An":[188],"algorithm":[189],"implements":[191],"our":[192],"results":[193],"convex":[196],"also":[201],"presented.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}