{"id":"https://openalex.org/W4407552699","doi":"https://doi.org/10.1177/02783649251315203","title":"Scenario-based motion planning with bounded probability of collision","display_name":"Scenario-based motion planning with bounded probability of collision","publication_year":2025,"publication_date":"2025-02-13","ids":{"openalex":"https://openalex.org/W4407552699","doi":"https://doi.org/10.1177/02783649251315203"},"language":"en","primary_location":{"id":"doi:10.1177/02783649251315203","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649251315203","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":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","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":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1177/02783649251315203","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069461952","display_name":"Oscar de Groot","orcid":"https://orcid.org/0000-0001-6527-7367"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Oscar de Groot","raw_affiliation_strings":["Department of Cognitive Robotics, TU Delft, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0001-6527-7367","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029788290","display_name":"Laura Ferranti","orcid":"https://orcid.org/0000-0003-3856-6221"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Laura Ferranti","raw_affiliation_strings":["Department of Cognitive Robotics, TU Delft, Delft, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085298812","display_name":"Dariu M. Gavrila","orcid":"https://orcid.org/0000-0002-1810-4196"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Dariu M. Gavrila","raw_affiliation_strings":["Department of Cognitive Robotics, TU Delft, Delft, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013297671","display_name":"Javier Alonso\u2013Mora","orcid":"https://orcid.org/0000-0003-0058-570X"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Javier Alonso-Mora","raw_affiliation_strings":["Department of Cognitive Robotics, TU Delft, Delft, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5069461952"],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":6.5038,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.9708548,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"44","issue":"9","first_page":"1507","last_page":"1525"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9914000034332275,"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/bounded-function","display_name":"Bounded function","score":0.6940041780471802},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6131942272186279},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5532712340354919},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5171051025390625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4905478358268738},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.47423359751701355},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3357718586921692},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3242976665496826},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29683220386505127},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28297072649002075},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.15963825583457947},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.11677184700965881}],"concepts":[{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6940041780471802},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6131942272186279},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5532712340354919},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5171051025390625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4905478358268738},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.47423359751701355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3357718586921692},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3242976665496826},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29683220386505127},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28297072649002075},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.15963825583457947},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.11677184700965881}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649251315203","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649251315203","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":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1177/02783649251315203","is_oa":true,"landing_page_url":"https://doi.org/10.1177/02783649251315203","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":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1481269173","https://openalex.org/W1484387568","https://openalex.org/W1592601589","https://openalex.org/W1976466849","https://openalex.org/W2002201291","https://openalex.org/W2066778083","https://openalex.org/W2072195747","https://openalex.org/W2080717363","https://openalex.org/W2087939536","https://openalex.org/W2089105401","https://openalex.org/W2097148013","https://openalex.org/W2101496914","https://openalex.org/W2159555929","https://openalex.org/W2167412190","https://openalex.org/W2229105208","https://openalex.org/W2343568200","https://openalex.org/W2490674248","https://openalex.org/W2557055507","https://openalex.org/W2773226774","https://openalex.org/W2783963507","https://openalex.org/W2790380176","https://openalex.org/W2810931617","https://openalex.org/W2909324603","https://openalex.org/W2963105220","https://openalex.org/W2963613342","https://openalex.org/W2963731007","https://openalex.org/W2991107648","https://openalex.org/W2991484107","https://openalex.org/W2993346664","https://openalex.org/W3038423780","https://openalex.org/W3039423908","https://openalex.org/W3044582844","https://openalex.org/W3099369367","https://openalex.org/W3116651890","https://openalex.org/W3159022532","https://openalex.org/W4285203271","https://openalex.org/W4315926480","https://openalex.org/W4383108442","https://openalex.org/W4383109142","https://openalex.org/W4391020808","https://openalex.org/W4401415486","https://openalex.org/W4407552699"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W2889566344","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183"],"abstract_inverted_index":{"Robots":[0],"will":[1],"increasingly":[2],"operate":[3],"near":[4],"humans":[5,23],"that":[6,60,92],"introduce":[7,82],"uncertainties":[8],"in":[9,74,147,183],"the":[10,31,47,53,62,95,104,107,115,137,144,163],"motion":[11,108],"planning":[12,68,117],"problem":[13,118],"due":[14],"to":[15,33,142,158],"their":[16],"complex":[17],"nature.":[18],"Optimization-based":[19],"planners":[20],"typically":[21],"avoid":[22],"through":[24],"collision":[25,51,64,99],"avoidance":[26],"chance":[27],"constraints.":[28],"This":[29,110,139],"allows":[30,140],"planner":[32],"optimize":[34],"performance":[35],"while":[36],"guaranteeing":[37],"probabilistic":[38],"safety.":[39],"However,":[40],"existing":[41],"real-time":[42,85],"methods":[43],"do":[44],"not":[45],"consider":[46],"actual":[48],"probability":[49,97,160],"of":[50,98,106,126,129,162],"for":[52,66],"planned":[54,145],"trajectory":[55,146],"but":[56],"rather":[57],"its":[58],"marginalization,":[59],"is,":[61],"independent":[63],"probabilities":[65],"each":[67],"step":[69],"and/or":[70],"dynamic":[71],"obstacle,":[72],"resulting":[73],"conservative":[75,153],"trajectories.":[76],"To":[77],"address":[78],"this":[79],"issue,":[80],"we":[81,132],"a":[83,176],"novel":[84],"capable":[86],"method":[87,150],"termed":[88],"Safe":[89],"Horizon":[90],"MPC":[91],"explicitly":[93],"constrains":[94],"joint":[96],"with":[100,187],"all":[101],"obstacles":[102],"over":[103],"duration":[105],"plan.":[109],"is":[111,151],"achieved":[112],"by":[113],"reformulating":[114],"chance-constrained":[116],"using":[119,175],"scenario":[120],"optimization":[121],"and":[122,168,179],"predictive":[123],"control.":[124],"Out":[125],"sampled":[127],"realizations":[128],"human":[130],"motion,":[131],"identify":[133],"which":[134],"cases":[135],"affect":[136],"optimization.":[138],"us":[141],"certify":[143],"real-time.":[148],"Our":[149],"less":[152],"than":[154],"state-of-the-art":[155],"approaches,":[156],"applicable":[157],"arbitrary":[159],"distributions":[161],"obstacles\u2019":[164],"trajectories,":[165],"computationally":[166],"tractable":[167],"scalable.":[169],"We":[170],"demonstrate":[171],"our":[172],"proposed":[173],"approach":[174],"mobile":[177],"robot":[178],"an":[180,184],"autonomous":[181],"vehicle":[182],"environment":[185],"shared":[186],"humans.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":7}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}