{"id":"https://openalex.org/W1734618278","doi":"https://doi.org/10.23919/ecc.2013.6669574","title":"Waypoint trajectory planning in the presence of obstacles with a tunnel-MILP approach","display_name":"Waypoint trajectory planning in the presence of obstacles with a tunnel-MILP approach","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W1734618278","doi":"https://doi.org/10.23919/ecc.2013.6669574","mag":"1734618278"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2013.6669574","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669574","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Control Conference (ECC)","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/A5089131089","display_name":"Rubens J. M. Afonso","orcid":"https://orcid.org/0000-0001-9209-2253"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Rubens Junqueira Magalhaes Afonso","raw_affiliation_strings":["Instituto Tecnol\u00f3gico de Aeron\u00e1utica, Divis\u00e3o de Engenharia Eletr\u00f4nica, 12228-900 S\u00e3o Jos\u00e9 dos Campos, SP, Brasil","Div. de Eng. Eletron., Inst. Tecnol. de Aeronaut., Sa\u0303o Jose\u0301 dos Campos, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica, Divis\u00e3o de Engenharia Eletr\u00f4nica, 12228-900 S\u00e3o Jos\u00e9 dos Campos, SP, Brasil","institution_ids":["https://openalex.org/I107428990"]},{"raw_affiliation_string":"Div. de Eng. Eletron., Inst. Tecnol. de Aeronaut., Sa\u0303o Jose\u0301 dos Campos, Brazil","institution_ids":["https://openalex.org/I107428990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027760931","display_name":"Roberto Kawakami Harrop Galv\u00e3o","orcid":"https://orcid.org/0000-0001-9794-8815"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Roberto Kawakami Harrop Galvao","raw_affiliation_strings":["Instituto Tecnol\u00f3gico de Aeron\u00e1utica, Divis\u00e3o de Engenharia Eletr\u00f4nica, 12228-900 S\u00e3o Jos\u00e9 dos Campos, SP, Brasil","Div. de Eng. Eletron., Inst. Tecnol. de Aeronaut., Sa\u0303o Jose\u0301 dos Campos, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica, Divis\u00e3o de Engenharia Eletr\u00f4nica, 12228-900 S\u00e3o Jos\u00e9 dos Campos, SP, Brasil","institution_ids":["https://openalex.org/I107428990"]},{"raw_affiliation_string":"Div. de Eng. Eletron., Inst. Tecnol. de Aeronaut., Sa\u0303o Jose\u0301 dos Campos, Brazil","institution_ids":["https://openalex.org/I107428990"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016448194","display_name":"Karl Heinz Kienitz","orcid":"https://orcid.org/0000-0002-1608-1541"},"institutions":[{"id":"https://openalex.org/I107428990","display_name":"Instituto Tecnol\u00f3gico de Aeron\u00e1utica","ror":"https://ror.org/05vh67662","country_code":"BR","type":"education","lineage":["https://openalex.org/I107428990"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Karl Heinz Kienitz","raw_affiliation_strings":["Divis\u00e3o de Engenharia Eletr\u00f4nica, Instituto Tec-nol\u00f3gico de Aeron\u00e1utica, S\u00e3o Jos\u00e9 dos Campos, SP, Brasil","Div. de Eng. Eletron., Inst. Tecnol. de Aeronaut., Sa\u0303o Jose\u0301 dos Campos, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Divis\u00e3o de Engenharia Eletr\u00f4nica, Instituto Tec-nol\u00f3gico de Aeron\u00e1utica, S\u00e3o Jos\u00e9 dos Campos, SP, Brasil","institution_ids":["https://openalex.org/I107428990"]},{"raw_affiliation_string":"Div. de Eng. Eletron., Inst. Tecnol. de Aeronaut., Sa\u0303o Jose\u0301 dos Campos, Brazil","institution_ids":["https://openalex.org/I107428990"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5525,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.68149377,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1390","last_page":"1397"},"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/T12158","display_name":"Guidance and Control Systems","score":0.9889000058174133,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9865000247955322,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.9808661937713623},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7256575226783752},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.6384772062301636},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6173716187477112},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6058636903762817},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6016653180122375},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5943054556846619},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.5009229183197021},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4526401162147522},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4201887547969818},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41807496547698975},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.40987345576286316},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.18974488973617554},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18624314665794373},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18374133110046387},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14502039551734924},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14435049891471863},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1069638729095459}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.9808661937713623},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7256575226783752},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.6384772062301636},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6173716187477112},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6058636903762817},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6016653180122375},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5943054556846619},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.5009229183197021},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4526401162147522},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4201887547969818},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41807496547698975},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.40987345576286316},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.18974488973617554},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18624314665794373},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18374133110046387},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14502039551734924},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14435049891471863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1069638729095459},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc.2013.6669574","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669574","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320997","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo","ror":"https://ror.org/02ddkpn78"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1581397664","https://openalex.org/W1967911984","https://openalex.org/W1974002100","https://openalex.org/W1982446614","https://openalex.org/W1984505032","https://openalex.org/W1984647968","https://openalex.org/W1995356523","https://openalex.org/W2000359213","https://openalex.org/W2002827932","https://openalex.org/W2003522422","https://openalex.org/W2003835006","https://openalex.org/W2009533501","https://openalex.org/W2022144586","https://openalex.org/W2031895052","https://openalex.org/W2064716303","https://openalex.org/W2074999758","https://openalex.org/W2098425563","https://openalex.org/W2099974608","https://openalex.org/W2100512461","https://openalex.org/W2101188133","https://openalex.org/W2122410182","https://openalex.org/W2127154035","https://openalex.org/W2162218551","https://openalex.org/W2332600699"],"related_works":["https://openalex.org/W3176873138","https://openalex.org/W1597099033","https://openalex.org/W3033981548","https://openalex.org/W2071007461","https://openalex.org/W2125686630","https://openalex.org/W2007355555","https://openalex.org/W4320038072","https://openalex.org/W4398325934","https://openalex.org/W2420667758","https://openalex.org/W2605476180"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"a":[3,18,62,80,137],"waypoint":[4,144,174],"trajectory":[5,116,175],"planning":[6,117,176],"technique":[7,177],"for":[8,21],"an":[9,114],"autonomous":[10],"vehicle":[11,98],"in":[12,145],"the":[13,22,31,41,44,53,69,91,109,123,127,142,146,150,156,160,170,173,182,187,190],"presence":[14],"of":[15,33,43,55,83,103,111,149,172,189],"obstacles":[16,56],"using":[17],"tunnel-MILP":[19,63],"formulation":[20],"avoidance":[23],"constraints.":[24],"Predictive":[25],"Control":[26],"is":[27,65,106],"used":[28],"to":[29,47,86,130,135,140,154,167,186],"address":[30],"issues":[32],"dynamic":[34],"constraint":[35],"satisfaction":[36],"and":[37],"obstacle":[38],"avoidance.":[39],"However,":[40],"complexity":[42],"optimization":[45,70,128],"problem":[46,71,129],"be":[48,74,87,131],"solved":[49,132],"may":[50,72],"escalate":[51],"as":[52],"number":[54,82,102],"increases.":[57],"To":[58],"circumvent":[59],"this":[60,120],"issue,":[61],"approach":[64],"employed.":[66],"Even":[67],"so,":[68],"still":[73],"too":[75],"complex,":[76],"i.":[77],"e.,":[78],"involve":[79],"large":[81],"decision":[84,104],"variables,":[85],"computationally":[88],"tractable":[89],"within":[90],"relatively":[92],"small":[93],"sample":[94],"time":[95],"required":[96],"by":[97],"guidance":[99],"applications.":[100],"The":[101],"variables":[105],"reduced":[107],"via":[108],"pre-computation":[110],"waypoints":[112],"during":[113,122],"offline":[115],"phase.":[118],"In":[119],"manner,":[121],"online":[124,191],"control":[125,138,152,193],"phase,":[126],"needs":[133],"only":[134],"compute":[136],"solution":[139,153,188],"reach":[141,155],"next":[143],"sequence,":[147],"instead":[148],"whole":[151],"target":[157],"set":[158],"from":[159],"current":[161],"position.":[162],"Simulation":[163],"results":[164],"are":[165],"presented":[166],"show":[168],"that":[169],"employment":[171],"brings":[178],"about":[179],"benefits":[180],"regarding":[181],"computational":[183],"burden":[184],"associated":[185],"optimal":[192],"problem.":[194]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
