{"id":"https://openalex.org/W3184529947","doi":"https://doi.org/10.23919/acc50511.2021.9483263","title":"Receding Horizon Control Based Motion Planning with Partially Infeasible LTL Constrains","display_name":"Receding Horizon Control Based Motion Planning with Partially Infeasible LTL Constrains","publication_year":2021,"publication_date":"2021-05-25","ids":{"openalex":"https://openalex.org/W3184529947","doi":"https://doi.org/10.23919/acc50511.2021.9483263","mag":"3184529947"},"language":"en","primary_location":{"id":"doi:10.23919/acc50511.2021.9483263","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9483263","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-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/A5001420415","display_name":"Mingyu Cai","orcid":"https://orcid.org/0000-0002-2967-2703"},"institutions":[{"id":"https://openalex.org/I126307644","display_name":"University of Iowa","ror":"https://ror.org/036jqmy94","country_code":"US","type":"education","lineage":["https://openalex.org/I126307644"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mingyu Cai","raw_affiliation_strings":["The University of Iowa,Department of Mechanical Engineering,Iowa City,IA,USA,52246"],"affiliations":[{"raw_affiliation_string":"The University of Iowa,Department of Mechanical Engineering,Iowa City,IA,USA,52246","institution_ids":["https://openalex.org/I126307644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102001983","display_name":"Hao Peng","orcid":"https://orcid.org/0000-0001-8617-4850"},"institutions":[{"id":"https://openalex.org/I2799847335","display_name":"Art Institute of Portland","ror":"https://ror.org/01cb0jg64","country_code":"US","type":"education","lineage":["https://openalex.org/I2799847335","https://openalex.org/I2799969541"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Peng","raw_affiliation_strings":["Apex.AI Inc,Palo Alto,CA,USA,94303"],"affiliations":[{"raw_affiliation_string":"Apex.AI Inc,Palo Alto,CA,USA,94303","institution_ids":["https://openalex.org/I2799847335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450024","display_name":"Zhijun Li","orcid":"https://orcid.org/0000-0002-3909-488X"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]},{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Li","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,Anhui,China","Department of Automation, University of Science and Technology of China, Hefei, Anhui, China"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,Anhui,China","institution_ids":["https://openalex.org/I126520041","https://openalex.org/I16365422"]},{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007825395","display_name":"Hongbo Gao","orcid":"https://orcid.org/0000-0002-5271-1280"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]},{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbo Gao","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,Anhui,China","Department of Automation, University of Science and Technology of China, Hefei, Anhui, China"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,Anhui,China","institution_ids":["https://openalex.org/I126520041","https://openalex.org/I16365422"]},{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018344952","display_name":"Zhen Kan","orcid":"https://orcid.org/0000-0003-2069-9544"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Kan","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,Anhui,China","Department of Automation, University of Science and Technology of China, Hefei, Anhui, China"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,Anhui,China","institution_ids":["https://openalex.org/I126520041","https://openalex.org/I16365422"]},{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5001420415"],"corresponding_institution_ids":["https://openalex.org/I126307644"],"apc_list":null,"apc_paid":null,"fwci":0.1921,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.48078431,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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":0.9991000294685364,"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/T10142","display_name":"Formal Methods in Verification","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9932000041007996,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.7262716889381409},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6367297172546387},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.6196146607398987},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.5796994566917419},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5665621757507324},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5414204597473145},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5406475067138672},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5147926807403564},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4906567633152008},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3742815852165222},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18784207105636597},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17186540365219116},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16657593846321106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1348920464515686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09610939025878906}],"concepts":[{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.7262716889381409},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6367297172546387},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.6196146607398987},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.5796994566917419},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5665621757507324},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5414204597473145},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5406475067138672},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5147926807403564},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4906567633152008},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3742815852165222},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18784207105636597},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17186540365219116},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16657593846321106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1348920464515686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09610939025878906},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc50511.2021.9483263","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9483263","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1754034137","https://openalex.org/W2010802721","https://openalex.org/W2048563056","https://openalex.org/W2052695231","https://openalex.org/W2059916956","https://openalex.org/W2064572756","https://openalex.org/W2077578897","https://openalex.org/W2091682553","https://openalex.org/W2129226651","https://openalex.org/W2155327357","https://openalex.org/W2167185915","https://openalex.org/W2182989809","https://openalex.org/W2289025432","https://openalex.org/W2381901500","https://openalex.org/W2735478446","https://openalex.org/W2900931536","https://openalex.org/W2951796861","https://openalex.org/W2953349777","https://openalex.org/W3039276491","https://openalex.org/W3045306771","https://openalex.org/W3098613855","https://openalex.org/W6662381374","https://openalex.org/W6686226592","https://openalex.org/W6966572877"],"related_works":["https://openalex.org/W2906267174","https://openalex.org/W134501823","https://openalex.org/W2615656344","https://openalex.org/W2809608782","https://openalex.org/W2013239059","https://openalex.org/W2295626654","https://openalex.org/W2333245620","https://openalex.org/W4286622840","https://openalex.org/W2536121351","https://openalex.org/W1889576908"],"abstract_inverted_index":{"This":[0],"work":[1,34],"considers":[2,35],"online":[3],"optimal":[4],"motion":[5,66,162],"planning":[6,67],"of":[7,68,78,85,159],"an":[8,123],"autonomous":[9],"agent":[10,70],"subject":[11],"to":[12,59,72,80,126,155],"linear":[13],"temporal":[14],"logic":[15],"(LTL)":[16],"constraints.":[17],"Since":[18],"user-specified":[19],"tasks":[20,54,100],"may":[21],"not":[22,60],"be":[23,57],"fully":[24,141],"realized":[25],"(i.e.,":[26,93],"partially":[27,102],"infeasible)":[28],"in":[29,75],"a":[30,110,132],"complex":[31],"environment,":[32],"this":[33],"hard":[36,42],"and":[37,143,150],"soft":[38,51,91,144],"LTL":[39,124],"constraints,":[40],"where":[41],"constraints":[43,52,92,139,145],"enforce":[44],"safety":[45,86,138],"requirements":[46],"(e.g.":[47],"avoid":[48],"obstacles)":[49],"while":[50,135],"represent":[53],"that":[55,137],"can":[56],"relaxed":[58],"strictly":[61],"follow":[62],"user":[63],"specifications.":[64],"The":[65],"the":[69,83,95,128,157,160],"is":[71,120],"generate":[73],"trajectories,":[74],"decreasing":[76],"order":[77],"priority,":[79],"1)":[81],"guarantee":[82],"satisfaction":[84],"constraints;":[87],"2)":[88],"mostly":[89,147],"fulfill":[90],"minimize":[94],"violation":[96],"cost":[97],"if":[98],"desired":[99],"are":[101,140,146,153],"infeasible);":[103],"3)":[104],"locally":[105],"optimize":[106],"rewards":[107],"collection":[108],"over":[109,131],"finite":[111,133],"horizon.":[112],"To":[113],"achieve":[114],"these":[115],"objectives,":[116],"receding":[117],"horizon":[118],"control":[119],"synthesized":[121],"with":[122],"formula":[125],"maximize":[127],"accumulated":[129],"utilities":[130],"horizon,":[134],"ensuring":[136],"satisfied":[142],"satisfied.":[148],"Simulation":[149],"experiment":[151],"results":[152],"provided":[154],"demonstrate":[156],"effectiveness":[158],"developed":[161],"strategy.":[163]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
