{"id":"https://openalex.org/W2902843745","doi":"https://doi.org/10.23919/ecc.2018.8550215","title":"Efficient Re-planning for Robotic Cars","display_name":"Efficient Re-planning for Robotic Cars","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2902843745","doi":"https://doi.org/10.23919/ecc.2018.8550215","mag":"2902843745"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2018.8550215","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2018.8550215","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5038642798","display_name":"Enrico Bertolazzi","orcid":"https://orcid.org/0000-0003-0487-5210"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Enrico Bertolazzi","raw_affiliation_strings":["Department of Industrial Engineering (DII), University of Trento, Via Sommarive 9, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering (DII), University of Trento, Via Sommarive 9, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000093663","display_name":"Paolo Bevilacqua","orcid":"https://orcid.org/0000-0003-0695-481X"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Bevilacqua","raw_affiliation_strings":["Department of Information Engineering and Computer Science (DISI), University of Trento, Via Sommarive 9, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science (DISI), University of Trento, Via Sommarive 9, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039742246","display_name":"Francesco Biral","orcid":"https://orcid.org/0000-0001-8098-7965"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Biral","raw_affiliation_strings":["Department of Industrial Engineering (DII), University of Trento, Via Sommarive 9, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering (DII), University of Trento, Via Sommarive 9, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045097296","display_name":"Daniele Fontanelli","orcid":"https://orcid.org/0000-0002-5486-9989"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Fontanelli","raw_affiliation_strings":["Department of Industrial Engineering (DII), University of Trento, Via Sommarive 9, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering (DII), University of Trento, Via Sommarive 9, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080554397","display_name":"Marco Frego","orcid":"https://orcid.org/0000-0003-2855-9052"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Frego","raw_affiliation_strings":["Department of Information Engineering and Computer Science (DISI), University of Trento, Via Sommarive 9, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science (DISI), University of Trento, Via Sommarive 9, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006224560","display_name":"Luigi Palopoli","orcid":"https://orcid.org/0000-0001-8813-8685"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Palopoli","raw_affiliation_strings":["Department of Information Engineering and Computer Science (DISI), University of Trento, Via Sommarive 9, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science (DISI), University of Trento, Via Sommarive 9, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I193223587"],"apc_list":null,"apc_paid":null,"fwci":0.6053,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.80698434,"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":"1068","last_page":"1073"},"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":0.9955999851226807,"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/T12158","display_name":"Guidance and Control Systems","score":0.9846000075340271,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8503665924072266},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7159083485603333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.667680025100708},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5718023180961609},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.49123281240463257},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4739663302898407},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.45696893334388733},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.4366293251514435},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.436235249042511},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3901483714580536},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37060102820396423},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35494452714920044},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3311404585838318},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26107144355773926},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2592930197715759},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21489247679710388},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19842174649238586},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14762777090072632}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8503665924072266},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7159083485603333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.667680025100708},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5718023180961609},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.49123281240463257},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4739663302898407},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.45696893334388733},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.4366293251514435},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.436235249042511},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3901483714580536},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37060102820396423},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35494452714920044},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3311404585838318},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26107144355773926},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2592930197715759},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21489247679710388},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19842174649238586},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14762777090072632},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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":3,"locations":[{"id":"doi:10.23919/ecc.2018.8550215","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2018.8550215","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unitn.it:11572/230074","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8550215","pdf_url":null,"source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:unibz.it:11338616940001241","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ECC.2018.8550215","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"Open Research (University of Surrey)","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Proceedings"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1578293866","https://openalex.org/W1691602655","https://openalex.org/W1878563552","https://openalex.org/W1971086298","https://openalex.org/W1985574396","https://openalex.org/W1996183429","https://openalex.org/W2019738489","https://openalex.org/W2025426491","https://openalex.org/W2088363568","https://openalex.org/W2110900840","https://openalex.org/W2112271657","https://openalex.org/W2121806728","https://openalex.org/W2138171292","https://openalex.org/W2140018923","https://openalex.org/W2141664020","https://openalex.org/W2163385431","https://openalex.org/W2165216595","https://openalex.org/W2166446174","https://openalex.org/W2313274380","https://openalex.org/W2406067508","https://openalex.org/W2528946227","https://openalex.org/W2564475571","https://openalex.org/W2568095917","https://openalex.org/W2576411427","https://openalex.org/W2752444998","https://openalex.org/W2770011008","https://openalex.org/W2779793052","https://openalex.org/W2785627277"],"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/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W4380590094"],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,5,46,63,67,71,77,80,121,126,140],"problem":[3],"of":[4,8,143],"reactive":[6],"re-planning":[7,127],"an":[9,33,100],"optimal":[10],"trajectory":[11,31,43,69,86],"for":[12,139],"autonomous":[13],"vehicles":[14],"subject":[15],"to":[16,49,90,98,119],"geometric":[17],"and":[18,56,84,108],"dynamic":[19],"constraints.":[20],"Reactive":[21],"replanning":[22],"is":[23,87,106],"used":[24],"when":[25],"a":[26,29,38,40,132,136,144],"vehicle":[27],"following":[28],"planned":[30,73],"encounters":[32],"unforeseen":[34],"obstacle.":[35,78],"In":[36,117],"such":[37],"case,":[39],"new":[41,68,85],"local":[42],"that":[44,66],"avoids":[45],"obstacle":[47],"has":[48],"be":[50,110,129],"generated,":[51],"without":[52],"violating":[53],"any":[54],"constraint":[55],"preserving":[57],"optimality.":[58],"The":[59],"solution":[60,105],"presented":[61],"in":[62,112,131],"paper":[64],"guarantees":[65],"rejoins":[70],"previously":[72],"one":[74],"shortly":[75],"after":[76],"Moreover,":[79],"transition":[81],"between":[82],"old":[83],"smooth":[88],"up":[89],"second":[91],"derivative":[92],"(curvature),":[93],"which":[94],"makes":[95],"it":[96],"easy":[97],"track":[99],"emergency":[101],"manoeuvre.":[102],"Finally,":[103],"our":[104],"efficient":[107],"can":[109,128],"implemented":[111],"real-time":[113],"on":[114],"lean":[115],"hardware.":[116],"order":[118],"validate":[120],"approach,":[122],"we":[123],"show":[124],"how":[125],"executed":[130],"few":[133],"milliseconds":[134],"(on":[135],"standard":[137],"machine)":[138],"realistic":[141],"example":[142],"racing":[145],"car.":[146]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}