{"id":"https://openalex.org/W2963492582","doi":"https://doi.org/10.1177/0278364916675419","title":"Admissible velocity propagation: Beyond quasi-static path planning for high-dimensional robots","display_name":"Admissible velocity propagation: Beyond quasi-static path planning for high-dimensional robots","publication_year":2016,"publication_date":"2016-11-02","ids":{"openalex":"https://openalex.org/W2963492582","doi":"https://doi.org/10.1177/0278364916675419","mag":"2963492582"},"language":"en","primary_location":{"id":"doi:10.1177/0278364916675419","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364916675419","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/A5081279690","display_name":"Quang\u2010Cuong Pham","orcid":"https://orcid.org/0000-0001-9605-4940"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Quang-Cuong Pham","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, NTU, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, NTU, Singapore","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032139227","display_name":"St\u00e9phane Caron","orcid":"https://orcid.org/0000-0003-2906-692X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"St\u00e9phane Caron","raw_affiliation_strings":["Laboratoire d\u2019Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier (LIRMM), CNRS / Universit\u00e9 de Montpellier, France"],"affiliations":[{"raw_affiliation_string":"Laboratoire d\u2019Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier (LIRMM), CNRS / Universit\u00e9 de Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041407289","display_name":"Puttichai Lertkultanon","orcid":"https://orcid.org/0000-0003-4079-9315"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Puttichai Lertkultanon","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, NTU, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, NTU, Singapore","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040633710","display_name":"Yoshihiko Nakamura","orcid":"https://orcid.org/0000-0001-7162-5102"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiko Nakamura","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5081279690"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5585,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.95539894,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"36","issue":"1","first_page":"44","last_page":"67"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965999722480774,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9933000206947327,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7982122898101807},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7066075801849365},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.6376136541366577},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49054306745529175},{"id":"https://openalex.org/keywords/interval","display_name":"Interval (graph theory)","score":0.47500813007354736},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.47270771861076355},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.4715167284011841},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4656311869621277},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.4226216971874237},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.416177362203598},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4131811559200287},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3943025469779968},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37711048126220703},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3467761278152466},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3462303876876831},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12514498829841614},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10113337635993958},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.09714260697364807}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7982122898101807},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7066075801849365},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.6376136541366577},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49054306745529175},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.47500813007354736},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.47270771861076355},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4715167284011841},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4656311869621277},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.4226216971874237},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.416177362203598},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4131811559200287},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3943025469779968},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37711048126220703},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3467761278152466},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3462303876876831},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12514498829841614},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10113337635993958},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.09714260697364807},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364916675419","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364916675419","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:HAL:lirmm-01692582v1","is_oa":false,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-01692582","pdf_url":null,"source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"The International Journal of Robotics Research, 2017, 36 (1), pp.44-67. ⟨10.1177/0278364916675419⟩","raw_type":"Journal articles"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W300028405","https://openalex.org/W1160995053","https://openalex.org/W1480648538","https://openalex.org/W1553616171","https://openalex.org/W1971086298","https://openalex.org/W2000359213","https://openalex.org/W2002548850","https://openalex.org/W2004710335","https://openalex.org/W2004815408","https://openalex.org/W2006010000","https://openalex.org/W2019246255","https://openalex.org/W2019965290","https://openalex.org/W2026733661","https://openalex.org/W2036016432","https://openalex.org/W2038890859","https://openalex.org/W2042408133","https://openalex.org/W2045403423","https://openalex.org/W2048820947","https://openalex.org/W2068638097","https://openalex.org/W2087366641","https://openalex.org/W2091197916","https://openalex.org/W2095143145","https://openalex.org/W2098653591","https://openalex.org/W2099454002","https://openalex.org/W2099893201","https://openalex.org/W2108234997","https://openalex.org/W2109212155","https://openalex.org/W2110684256","https://openalex.org/W2110762409","https://openalex.org/W2113526778","https://openalex.org/W2114171536","https://openalex.org/W2114280243","https://openalex.org/W2115091574","https://openalex.org/W2128990851","https://openalex.org/W2140220871","https://openalex.org/W2140632912","https://openalex.org/W2141664020","https://openalex.org/W2142981033","https://openalex.org/W2147497140","https://openalex.org/W2153413894","https://openalex.org/W2166077797","https://openalex.org/W2167348159","https://openalex.org/W2179186822","https://openalex.org/W2296356821","https://openalex.org/W3103565931","https://openalex.org/W3141571829","https://openalex.org/W4230405224","https://openalex.org/W4232097448","https://openalex.org/W4300449797","https://openalex.org/W6602681773"],"related_works":["https://openalex.org/W2946941768","https://openalex.org/W2333571655","https://openalex.org/W2315143898","https://openalex.org/W3046207687","https://openalex.org/W2995673330","https://openalex.org/W2604760770","https://openalex.org/W2092513144","https://openalex.org/W2034039642","https://openalex.org/W2027710364","https://openalex.org/W4285253626"],"abstract_inverted_index":{"Path-velocity":[0],"decomposition":[1,101],"is":[2,21,31,55,60,121],"an":[3,89,135],"intuitive":[4],"yet":[5],"powerful":[6],"approach":[7],"to":[8,102,180,222],"addressing":[9],"the":[10,34,39,52,62,66,83,115,118,141,150,154,156,162,166,195,203,206],"complexity":[11],"of":[12,48,117,137,143,152,183,205],"kinodynamic":[13,53,168,191,212],"motion":[14],"planning.":[15],"The":[16],"difficult":[17,211],"trajectory":[18,185],"planning":[19,85,213],"problem":[20],"solved":[22],"in":[23,33,65,88,92,216],"two":[24],"separate,":[25],"simpler":[26],"steps:":[27],"first,":[28],"a":[29,46,96,122,132,181],"path":[30,50,63,84,133],"found":[32,64],"configuration":[35],"space":[36],"that":[37,49,61,98,109,144,187],"satisfies":[38],"geometric":[40],"constraints":[41,54,81,192],"(path":[42],"planning),":[43],"and":[44,134,148],"second,":[45],"time-parameterization":[47],"satisfying":[51],"found.":[56],"A":[57],"fundamental":[58],"requirement":[59,77],"first":[67],"step":[68],"must":[69],"be":[70],"time-parameterizable.":[71],"Most":[72],"existing":[73],"works":[74],"fulfill":[75],"this":[76,171],"by":[78],"enforcing":[79],"quasi-static":[80,218],"during":[82],"step,":[86],"resulting":[87],"important":[90],"loss":[91],"completeness.":[93],"We":[94,201],"propose":[95],"method":[97,120,208],"enables":[99],"path-velocity":[100,199],"discover":[103],"truly":[104],"dynamic":[105],"motions,":[106],"i.e.":[107],"motions":[108],"are":[110,220],"not":[111],"quasi-statically":[112],"executable.":[113],"At":[114],"heart":[116],"proposed":[119,207],"new":[123,184],"algorithm":[124,172],"\u2013":[125,129],"Admissible":[126],"Velocity":[127],"Propagation":[128],"which,":[130],"given":[131],"interval":[136,151],"reachable":[138],"velocities":[139,155],"at":[140],"beginning":[142],"path,":[145,163],"computes":[146],"exactly":[147],"efficiently":[149],"all":[153],"system":[157],"can":[158,188],"reach":[159],"after":[160],"traversing":[161],"while":[164,193],"respecting":[165],"system\u2019s":[167],"constraints.":[169],"Combining":[170],"with":[173,198],"usual":[174],"sampling-based":[175],"planners":[176,186],"then":[177],"gives":[178],"rise":[179],"family":[182],"appropriately":[189],"handle":[190],"retaining":[194],"advantages":[196],"associated":[197],"decomposition.":[200],"demonstrate":[202],"efficiency":[204],"on":[209],"some":[210],"problems,":[214],"where,":[215],"particular,":[217],"methods":[219],"guaranteed":[221],"fail.":[223]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":2}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}