{"id":"https://openalex.org/W2080656457","doi":"https://doi.org/10.2498/cit.1001171","title":"Path Following for Autonomous Vehicle Navigation Based on Kinodynamic Control","display_name":"Path Following for Autonomous Vehicle Navigation Based on Kinodynamic Control","publication_year":2008,"publication_date":"2008-08-25","ids":{"openalex":"https://openalex.org/W2080656457","doi":"https://doi.org/10.2498/cit.1001171","mag":"2080656457"},"language":"en","primary_location":{"id":"doi:10.2498/cit.1001171","is_oa":true,"landing_page_url":"https://doi.org/10.2498/cit.1001171","pdf_url":"http://cit.fer.hr/index.php/CIT/article/download/1689/1393","source":{"id":"https://openalex.org/S98565333","display_name":"Journal of Computing and Information Technology","issn_l":"1330-1136","issn":["1330-1136","1846-3908"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310314807","host_organization_name":"Faculty of Electrical Engineering and Computing, University of Zagreb","host_organization_lineage":["https://openalex.org/P4310314807"],"host_organization_lineage_names":["Faculty of Electrical Engineering and Computing, University of Zagreb"],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing and Information Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"http://cit.fer.hr/index.php/CIT/article/download/1689/1393","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089121639","display_name":"Kristijan Ma\u010dek","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Kristijan Macek","raw_affiliation_strings":["ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102951272","display_name":"Roland Philippsen","orcid":"https://orcid.org/0000-0003-3513-8854"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roland Philippsen","raw_affiliation_strings":["Stanford University, Stanford, United States"],"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, United States","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Y. Siegwart","raw_affiliation_strings":["ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5089121639"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":{"value":450,"currency":"EUR","value_usd":485},"apc_paid":{"value":450,"currency":"EUR","value_usd":485},"fwci":1.0649,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.79504224,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"17","issue":"1","first_page":"17","last_page":"17"},"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":0.9976999759674072,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9757000207901001,"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/computer-science","display_name":"Computer science","score":0.7269139289855957},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6911922693252563},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6834644675254822},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6260165572166443},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5873889327049255},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5614886283874512},{"id":"https://openalex.org/keywords/fast-path","display_name":"Fast path","score":0.5494461059570312},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5330618023872375},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4485010504722595},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44110679626464844},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4299640953540802},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4213216304779053},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3629509210586548},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3477350175380707},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24411725997924805},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22602030634880066},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1608675718307495},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07734614610671997}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7269139289855957},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6911922693252563},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6834644675254822},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6260165572166443},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5873889327049255},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5614886283874512},{"id":"https://openalex.org/C32638748","wikidata":"https://www.wikidata.org/wiki/Q5437051","display_name":"Fast path","level":4,"score":0.5494461059570312},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5330618023872375},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4485010504722595},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44110679626464844},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4299640953540802},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4213216304779053},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3629509210586548},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3477350175380707},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24411725997924805},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22602030634880066},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1608675718307495},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07734614610671997},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.2498/cit.1001171","is_oa":true,"landing_page_url":"https://doi.org/10.2498/cit.1001171","pdf_url":"http://cit.fer.hr/index.php/CIT/article/download/1689/1393","source":{"id":"https://openalex.org/S98565333","display_name":"Journal of Computing and Information Technology","issn_l":"1330-1136","issn":["1330-1136","1846-3908"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310314807","host_organization_name":"Faculty of Electrical Engineering and Computing, University of Zagreb","host_organization_lineage":["https://openalex.org/P4310314807"],"host_organization_lineage_names":["Faculty of Electrical Engineering and Computing, University of Zagreb"],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing and Information Technology","raw_type":"journal-article"},{"id":"pmh:oai:hrcak.srce.hr:44565","is_oa":true,"landing_page_url":"http://hrcak.srce.hr/44565","pdf_url":null,"source":{"id":"https://openalex.org/S4306400677","display_name":"Hr\u010dak Portal of scientific journals of Croatia (University Computing Centre)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210104502","host_organization_name":"United Nations University","host_organization_lineage":["https://openalex.org/I4210104502"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of computing and information technology","raw_type":"text"}],"best_oa_location":{"id":"doi:10.2498/cit.1001171","is_oa":true,"landing_page_url":"https://doi.org/10.2498/cit.1001171","pdf_url":"http://cit.fer.hr/index.php/CIT/article/download/1689/1393","source":{"id":"https://openalex.org/S98565333","display_name":"Journal of Computing and Information Technology","issn_l":"1330-1136","issn":["1330-1136","1846-3908"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310314807","host_organization_name":"Faculty of Electrical Engineering and Computing, University of Zagreb","host_organization_lineage":["https://openalex.org/P4310314807"],"host_organization_lineage_names":["Faculty of Electrical Engineering and Computing, University of Zagreb"],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing and Information Technology","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4699999988079071,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2080656457.pdf","grobid_xml":"https://content.openalex.org/works/W2080656457.grobid-xml"},"referenced_works_count":8,"referenced_works":["https://openalex.org/W1485350654","https://openalex.org/W1551376929","https://openalex.org/W1585104299","https://openalex.org/W1934908130","https://openalex.org/W2000366549","https://openalex.org/W2120370123","https://openalex.org/W2142969240","https://openalex.org/W3021298685"],"related_works":["https://openalex.org/W3119736302","https://openalex.org/W2576812951","https://openalex.org/W2368795992","https://openalex.org/W2908094156","https://openalex.org/W2990979393","https://openalex.org/W2966249567","https://openalex.org/W4308080200","https://openalex.org/W1997369033","https://openalex.org/W1957996277","https://openalex.org/W2591763881"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,16,32,55,57,69,73,78,91,95,98,113,163,173,184],"problem":[4,58],"of":[5,54,59,72,94,172],"path":[6,18,20,34,48,115,134,178,207],"following":[7,21,35,135,179,208],"for":[8,88,90],"mobile":[9],"robots":[10],"with":[11,43,143,160],"particular":[12,107],"emphasis":[13],"on":[14,199,218],"integrating":[15],"global":[17,74,114,141],"planning,":[19],"and":[22,49,97,169,190,216],"a":[23,28,46,125,133,140,144,191,200,219],"collision":[24,60,89,145],"avoidance":[25,61,123],"scheme":[26,137,147],"in":[27,106,112,214],"unified":[29],"framework.":[30],"Whereas":[31],"traditional":[33],"algorithms":[36],"aim":[37],"at":[38,157],"minimizing":[39],"an":[40],"error":[41],"function":[42],"respect":[44,161],"to":[45,68,103,120,138,162],"given":[47,79,92],"kinematic":[50],"and/or":[51],"dynamic":[52],"model":[53],"robot,":[56],"is":[62,128],"often":[63],"neglected":[64],"or":[65],"simply":[66],"cast":[67],"replanning":[70],"phase":[71],"planner":[75],"which":[76],"issues":[77],"path.":[80],"Such":[81],"approaches":[82],"that":[83,131,148],"do":[84],"not":[85],"check":[86],"explicitly":[87],"state":[93],"ego-robot":[96,155,174],"environment":[99,167],"can":[100],"easily":[101],"lead":[102],"hazardous":[104],"situations,":[105],"if":[108],"latencies":[109],"are":[110,181],"present":[111],"planning":[116],"phase.":[117],"In":[118],"order":[119],"address":[121],"obstacle":[122],"directly,":[124],"navigation":[126],"framework":[127],"presented":[129],"here":[130],"combines":[132],"control":[136],"attain":[139],"objective":[142],"checking":[146],"incrementally":[149],"builds":[150],"collision-free":[151],"trajectories,":[152],"thus":[153],"ensuring":[154],"safety":[156],"all":[158],"times,":[159],"partially":[164],"known":[165],"static":[166],"obstacles":[168],"kinodynamic":[170],"limitations":[171],"itself.":[175],"Two":[176],"novel":[177],"schemes":[180,209],"presented,":[182],"namely":[183],"Traversability-Anchored":[185],"Dynamic":[186],"Path":[187,195],"Following":[188,196],"(TADPF)":[189],"combined":[192],"TADPF-Sliding":[193],"Mode":[194],"(SMPF),":[197],"based":[198],"previously":[201],"developed":[202],"SMPF":[203],"technique.":[204],"The":[205],"two":[206],"have":[210],"been":[211],"verified":[212],"both":[213],"simulation":[215],"experimentally":[217],"test":[220],"Ackermann-like":[221],"vehicle.":[222]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
