{"id":"https://openalex.org/W2808877193","doi":"https://doi.org/10.1177/0278364918778348","title":"Planar time-optimal paths for asymmetric vehicles in constant flows","display_name":"Planar time-optimal paths for asymmetric vehicles in constant flows","publication_year":2018,"publication_date":"2018-06-18","ids":{"openalex":"https://openalex.org/W2808877193","doi":"https://doi.org/10.1177/0278364918778348","mag":"2808877193"},"language":"en","primary_location":{"id":"doi:10.1177/0278364918778348","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918778348","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/A5064419521","display_name":"Bilal Hammoud","orcid":"https://orcid.org/0000-0001-8881-4292"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Bilal Hammoud","raw_affiliation_strings":["Department of Mechanical Engineering, American University of Beirut, Lebanon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, American University of Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086894105","display_name":"Salah Bazzi","orcid":"https://orcid.org/0000-0002-8631-0426"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Salah Bazzi","raw_affiliation_strings":["Department of Mechanical Engineering, American University of Beirut, Lebanon"],"raw_orcid":"https://orcid.org/0000-0002-8631-0426","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, American University of Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049264238","display_name":"Elie Shammas","orcid":"https://orcid.org/0000-0002-3604-334X"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":true,"raw_author_name":"Elie Shammas","raw_affiliation_strings":["Department of Mechanical Engineering, American University of Beirut, Lebanon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, American University of Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019155460","display_name":"Maur\u0131\u0301cio C. de Oliveira","orcid":"https://orcid.org/0000-0002-1482-2123"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mauricio de Oliveira","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, University of California, San Diego, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, University of California, San Diego, United States","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5049264238"],"corresponding_institution_ids":["https://openalex.org/I98635879"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05697818,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"37","issue":"10","first_page":"1168","last_page":"1183"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.994700014591217,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/kinematics","display_name":"Kinematics","score":0.6823364496231079},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6289535164833069},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6183618903160095},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.5980165004730225},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5591468811035156},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5018815994262695},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4767794907093048},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.45881468057632446},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31751060485839844},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.30053186416625977},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22606903314590454},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16287481784820557},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09205043315887451},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08048462867736816}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6823364496231079},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6289535164833069},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6183618903160095},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.5980165004730225},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5591468811035156},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5018815994262695},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4767794907093048},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.45881468057632446},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31751060485839844},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.30053186416625977},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22606903314590454},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16287481784820557},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09205043315887451},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08048462867736816},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364918778348","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918778348","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309999","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21"},{"id":"https://openalex.org/F4320332723","display_name":"Munib and Angela Masri Institute of Energy and Natural Resources","ror":"https://ror.org/04pznsd21"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W643870620","https://openalex.org/W1553667073","https://openalex.org/W1574514837","https://openalex.org/W1587799944","https://openalex.org/W1971998222","https://openalex.org/W1979699070","https://openalex.org/W1988583014","https://openalex.org/W2002564678","https://openalex.org/W2027698629","https://openalex.org/W2030632579","https://openalex.org/W2034935091","https://openalex.org/W2043437910","https://openalex.org/W2055014394","https://openalex.org/W2071905761","https://openalex.org/W2078536073","https://openalex.org/W2082234445","https://openalex.org/W2087113472","https://openalex.org/W2094296595","https://openalex.org/W2111034649","https://openalex.org/W2131339983","https://openalex.org/W2134638269","https://openalex.org/W2151026092","https://openalex.org/W2158149555","https://openalex.org/W2165989366","https://openalex.org/W2166034910","https://openalex.org/W2166500251","https://openalex.org/W2284281974","https://openalex.org/W2313274380","https://openalex.org/W2471775732","https://openalex.org/W2474788024","https://openalex.org/W2488710684","https://openalex.org/W4241567030","https://openalex.org/W4300831536","https://openalex.org/W4400518895"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2978007058","https://openalex.org/W2897178038","https://openalex.org/W2001283893"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,27,52,97,101],"new":[4],"kinematic":[5],"model":[6,48,81],"to":[7,64,85,100,121,147],"describe":[8],"the":[9,40,44,50,57,61,65,69,75,78,80,89,94,105,109,123,133,139,150],"planar":[10],"motion":[11],"of":[12,60,68,77],"an":[13],"autonomous":[14],"underwater":[15],"vehicle":[16,23,62,95],"moving":[17,30],"in":[18,104,142],"constant":[19],"current":[20],"flows.":[21],"The":[22,47],"is":[24,82],"modeled":[25],"as":[26],"rigid":[28],"body":[29],"at":[31],"maximum":[32],"attainable":[33],"forward":[34],"velocity":[35],"with":[36,118],"symmetric":[37],"bounds":[38],"on":[39,56,74],"control":[41],"input":[42],"for":[43,108,149],"steering":[45,58],"rate.":[46],"approximates":[49],"effect":[51],"flow":[53],"will":[54],"induce":[55],"rate":[59],"due":[63],"asymmetric":[66],"geometry":[67],"vehicle.":[70],"By":[71],"imposing":[72],"restrictions":[73],"magnitude":[76],"flow,":[79],"then":[83],"used":[84,146],"characterize":[86],"and":[87,144],"construct":[88],"minimum-time":[90],"paths":[91],"that":[92],"guide":[93],"from":[96],"given":[98],"initial":[99],"final":[102],"configuration":[103],"plane.":[106],"Algorithms":[107],"time-optimal":[110],"path":[111],"synthesis":[112],"problem":[113,135],"are":[114,136],"also":[115],"introduced,":[116],"along":[117],"several":[119],"simulations":[120],"validate":[122],"proposed":[124],"method.":[125],"Lastly,":[126],"insights":[127],"into":[128],"how":[129],"one":[130],"would":[131],"approach":[132],"energy-optimal":[134],"given,":[137],"highlighting":[138],"fundamental":[140],"differences":[141],"formulation":[143],"methods":[145],"solve":[148],"optimal":[151],"paths.":[152]},"counts_by_year":[],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}
