{"id":"https://openalex.org/W2002440441","doi":"https://doi.org/10.1177/027836499801700706","title":"Motion Planning in Dynamic Environments Using Velocity Obstacles","display_name":"Motion Planning in Dynamic Environments Using Velocity Obstacles","publication_year":1998,"publication_date":"1998-07-01","ids":{"openalex":"https://openalex.org/W2002440441","doi":"https://doi.org/10.1177/027836499801700706","mag":"2002440441"},"language":"en","primary_location":{"id":"doi:10.1177/027836499801700706","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499801700706","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/A5065107543","display_name":"Paolo Fiorini","orcid":"https://orcid.org/0000-0002-0711-8605"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paolo Fiorini","raw_affiliation_strings":["Jet Propulsion Laboratory California Institute of Technology Pasadena, California 91109 USA","Jet Propulsion Laboratory; California Institute of Technology; Pasadena, California; 91109; USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory California Institute of Technology Pasadena, California 91109 USA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory; California Institute of Technology; Pasadena, California; 91109; USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030950811","display_name":"Zvi Shiller","orcid":"https://orcid.org/0000-0003-1303-0367"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zvi Shiller","raw_affiliation_strings":["Department of Mechanical, Nuclear, and Aerospace Engineering University of California, Los Angeles Los Angeles, California 90024 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Nuclear, and Aerospace Engineering University of California, Los Angeles Los Angeles, California 90024 USA","institution_ids":["https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.0794,"has_fulltext":false,"cited_by_count":1957,"citation_normalized_percentile":{"value":0.97358751,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"17","issue":"7","first_page":"760","last_page":"772"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9904999732971191,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8277664184570312},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7433512210845947},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6868387460708618},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6678823232650757},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6287829875946045},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5718998908996582},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5504273176193237},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5329787731170654},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5298989415168762},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5130981206893921},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5064531564712524},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5010497570037842},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4414105713367462},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3683830797672272},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3635813593864441},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3574150800704956},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27880987524986267},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.22256150841712952},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17614632844924927},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07193237543106079}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8277664184570312},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7433512210845947},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6868387460708618},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6678823232650757},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6287829875946045},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5718998908996582},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5504273176193237},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5329787731170654},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5298989415168762},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5130981206893921},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5064531564712524},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5010497570037842},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4414105713367462},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3683830797672272},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3635813593864441},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3574150800704956},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27880987524986267},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.22256150841712952},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17614632844924927},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07193237543106079},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/027836499801700706","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499801700706","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:10.1.1.105.2332","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.105.2332","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/32056/1/95-1447.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.56.6352","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.56.6352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robotics.jpl.nasa.gov/people/fiorini/papers/ijrr95.ps.gz","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8100000023841858}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W9419878","https://openalex.org/W34087307","https://openalex.org/W1489356703","https://openalex.org/W1580535863","https://openalex.org/W1645515224","https://openalex.org/W2000134108","https://openalex.org/W2004815408","https://openalex.org/W2015034115","https://openalex.org/W2028951372","https://openalex.org/W2029236297","https://openalex.org/W2042517341","https://openalex.org/W2077090901","https://openalex.org/W2083093559","https://openalex.org/W2086200570","https://openalex.org/W2096447271","https://openalex.org/W2100986220","https://openalex.org/W2103666101","https://openalex.org/W2111734814","https://openalex.org/W2115416448","https://openalex.org/W2133710727","https://openalex.org/W2147839884","https://openalex.org/W2150470619","https://openalex.org/W2152475379","https://openalex.org/W2166462345","https://openalex.org/W2167108407","https://openalex.org/W2170220350","https://openalex.org/W2726812262"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,43,86,89,95,153],"method":[4,192],"for":[5,139,195,206],"robot":[6,38,67,80],"motion":[7,178],"planning":[8],"in":[9,24,85,210],"dynamic":[10],"environments.":[11],"It":[12,41],"consists":[13],"of":[14,36,58,71,79,113,121,155,167,183],"selecting":[15,66],"avoidance":[16,61,106,114,132,157],"maneuvers":[17,62,133],"to":[18,53,147,188],"avoid":[19],"static":[20,201],"and":[21,34,39,197,202,205],"moving":[22,203],"obstacles":[23],"the":[25,30,37,72,77,105,111,119,126,168,184],"velocity":[26,73],"space,":[27],"based":[28],"on":[29],"cur":[31],"rent":[32],"positions":[33,55],"velocities":[35,52,81,115],"obstacles.":[40],"is":[42,108,116,149,186,193],"first-":[44],"order":[45],"method,":[46],"since":[47],"it":[48],"does":[49],"not":[50],"integrate":[51],"yield":[54],"as":[56],"functions":[57],"time.":[59,101,179],"The":[60,143,191],"are":[63],"generated":[64],"by":[65,125,151],"ve":[68],"locities":[69],"outside":[70],"obstacles,":[74,204],"which":[75],"represent":[76],"set":[78,112,120],"that":[82,92,104,173],"would":[83],"result":[84],"collision":[87],"with":[88,118],"given":[90,96],"obstacle":[91,141],"moves":[93],"at":[94,98,134,160],"velocity,":[97],"some":[99],"future":[100],"To":[102],"ensure":[103],"maneuver":[107],"dynamically":[109],"feasible,":[110],"intersected":[117],"admissible":[122],"velocities,":[123],"defined":[124],"robot's":[127],"acceleration":[128],"constraints.":[129],"Computing":[130],"new":[131],"regular":[135],"time":[136,162],"intervals":[137],"accounts":[138],"general":[140],"trajectories.":[142],"trajectory":[144],"from":[145],"start":[146],"goal":[148],"computed":[150,159],"searching":[152],"tree":[154,169,185],"feasible":[156],"maneuvers,":[158],"discrete":[161],"intervals.":[163],"An":[164],"exhaustive":[165],"search":[166,182],"yields":[170],"near-optimal":[171],"trajectories":[172],"either":[174],"minimize":[175],"distance":[176],"or":[177],"A":[180],"heuristic":[181],"applicable":[187],"on-line":[189],"planning.":[190],"demonstrated":[194],"point":[196],"disk":[198],"robots":[199],"among":[200],"an":[207,211],"automated":[208],"vehicle":[209,213],"intelligent":[212],"highway":[214],"system":[215],"scenario.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":57},{"year":2025,"cited_by_count":148},{"year":2024,"cited_by_count":146},{"year":2023,"cited_by_count":141},{"year":2022,"cited_by_count":142},{"year":2021,"cited_by_count":140},{"year":2020,"cited_by_count":137},{"year":2019,"cited_by_count":114},{"year":2018,"cited_by_count":123},{"year":2017,"cited_by_count":96},{"year":2016,"cited_by_count":90},{"year":2015,"cited_by_count":97},{"year":2014,"cited_by_count":93},{"year":2013,"cited_by_count":86},{"year":2012,"cited_by_count":71}],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2025-10-10T00:00:00"}