{"id":"https://openalex.org/W4388265417","doi":"https://doi.org/10.3390/sym15111973","title":"A Secure Trajectory Planning Method for Connected Autonomous Vehicles at Mining Site","display_name":"A Secure Trajectory Planning Method for Connected Autonomous Vehicles at Mining Site","publication_year":2023,"publication_date":"2023-10-25","ids":{"openalex":"https://openalex.org/W4388265417","doi":"https://doi.org/10.3390/sym15111973"},"language":"en","primary_location":{"id":"doi:10.3390/sym15111973","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym15111973","pdf_url":"https://www.mdpi.com/2073-8994/15/11/1973/pdf?version=1698236828","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2073-8994/15/11/1973/pdf?version=1698236828","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100452612","display_name":"Han Li","orcid":"https://orcid.org/0000-0003-0071-8461"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Li","raw_affiliation_strings":["School of Transportation Science and Engineering, Beihang University, Beijing 150028, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Beihang University, Beijing 150028, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100346371","display_name":"Yiming Li","orcid":"https://orcid.org/0009-0007-7859-4987"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Li","raw_affiliation_strings":["School of Transportation Science and Engineering, Beihang University, Beijing 150028, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Beihang University, Beijing 150028, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090846452","display_name":"Peng Chen","orcid":"https://orcid.org/0000-0002-8076-8989"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Peng Chen","raw_affiliation_strings":["School of Transportation Science and Engineering, Beihang University, Beijing 150028, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Beihang University, Beijing 150028, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111897664","display_name":"Guizhen Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guizhen Yu","raw_affiliation_strings":["School of Transportation Science and Engineering, Beihang University, Beijing 150028, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Beihang University, Beijing 150028, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102978784","display_name":"Yaping Liao","orcid":"https://orcid.org/0000-0002-9128-3688"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaping Liao","raw_affiliation_strings":["School of Transportation Science and Engineering, Beihang University, Beijing 150028, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Engineering, Beihang University, Beijing 150028, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5090846452"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2227},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2227},"fwci":0.6839,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.67003532,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"15","issue":"11","first_page":"1973","last_page":"1973"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9832000136375427,"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"}},{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9825999736785889,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/planner","display_name":"Planner","score":0.7585827112197876},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7373958826065063},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6907860636711121},{"id":"https://openalex.org/keywords/truck","display_name":"Truck","score":0.6426482200622559},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6155298352241516},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.47784659266471863},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.39117175340652466},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31501197814941406},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.24469563364982605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18866896629333496},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16112086176872253},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.07781600952148438}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7585827112197876},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7373958826065063},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6907860636711121},{"id":"https://openalex.org/C52121051","wikidata":"https://www.wikidata.org/wiki/Q43193","display_name":"Truck","level":2,"score":0.6426482200622559},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6155298352241516},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47784659266471863},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.39117175340652466},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31501197814941406},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.24469563364982605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18866896629333496},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16112086176872253},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.07781600952148438},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/sym15111973","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym15111973","pdf_url":"https://www.mdpi.com/2073-8994/15/11/1973/pdf?version=1698236828","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ca0682eb40e94718a17523204ea36071","is_oa":false,"landing_page_url":"https://doaj.org/article/ca0682eb40e94718a17523204ea36071","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symmetry, Vol 15, Iss 11, p 1973 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/sym15111973","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym15111973","pdf_url":"https://www.mdpi.com/2073-8994/15/11/1973/pdf?version=1698236828","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.4000000059604645,"id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G7043310846","display_name":null,"funder_award_id":"2022YFB4703700","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4388265417.pdf"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1968582771","https://openalex.org/W1971998222","https://openalex.org/W2071401582","https://openalex.org/W2095715071","https://openalex.org/W2116842611","https://openalex.org/W2123871098","https://openalex.org/W2127517654","https://openalex.org/W2159900645","https://openalex.org/W2163385431","https://openalex.org/W2169528473","https://openalex.org/W2306644740","https://openalex.org/W2774231091","https://openalex.org/W2782393959","https://openalex.org/W2806851394","https://openalex.org/W2897423332","https://openalex.org/W2908972399","https://openalex.org/W2946231253","https://openalex.org/W2955363359","https://openalex.org/W2962787639","https://openalex.org/W2963229311","https://openalex.org/W2972399436","https://openalex.org/W2990123870","https://openalex.org/W2995649812","https://openalex.org/W2996857119","https://openalex.org/W3013777218","https://openalex.org/W3104165386","https://openalex.org/W3114439517","https://openalex.org/W3195382559","https://openalex.org/W3213712307","https://openalex.org/W4205699800","https://openalex.org/W4221067141","https://openalex.org/W4235815925","https://openalex.org/W4313656027","https://openalex.org/W4367395032","https://openalex.org/W4379116716"],"related_works":["https://openalex.org/W122632647","https://openalex.org/W2060743914","https://openalex.org/W2359600231","https://openalex.org/W187779371","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"Recently,":[0],"with":[1,23,150,160],"the":[2,8,24,28,36,39,44,47,57,63,76,86,109,113,124,127,134,138,141,148,158,175,188,195,199],"assistance":[3],"of":[4,10,14,26,31,38,140,177,187],"5G":[5],"networks":[6],"and":[7,34,89,119,144],"Internet":[9],"Things,":[11],"specialized":[12],"applications":[13],"autonomous":[15,48,100,162],"driving":[16,49],"to":[17,132],"mining":[18,32,40,58,81,103,142,189],"sites":[19,82,104],"have":[20],"been":[21],"explored,":[22],"goal":[25],"realizing":[27],"unmanned":[29],"operation":[30],"systems":[33],"enhancing":[35],"safety":[37],"industry.":[41],"After":[42],"receiving":[43],"loading":[45],"task,":[46],"system":[50],"will":[51],"generate":[52,198],"a":[53,70,94,151,164],"feasible":[54],"trajectory":[55,64,78,96,121,201],"for":[56,80,99,168],"truck.":[59],"It":[60,107],"requires":[61],"that":[62,194],"be":[65],"generated":[66],"in":[67,85,184],"advanced":[68],"within":[69,137],"limited-time":[71],"high-latency":[72],"network.":[73,92],"In":[74],"addition,":[75],"secure":[77,95,169,200],"planning":[79,97,110,114],"involves":[83],"factors":[84],"complex":[87],"environment":[88],"an":[90],"unstable":[91],"Thus,":[93],"method":[98,167,181],"trucks":[101],"at":[102],"is":[105,172],"proposed.":[106],"simplifies":[108],"by":[111],"decoupling":[112],"into":[115],"front-end":[116],"path":[117,136,149],"searching":[118],"back-end":[120],"generation.":[122],"First,":[123],"planner":[125,196],"enhances":[126],"Hybrid":[128],"A*":[129],"search":[130,166],"algorithm":[131],"find":[133],"hauling":[135],"boundary":[139],"site,":[143],"then,":[145],"it":[146],"post-processes":[147],"well-designed":[152],"symmetric":[153],"optimization-based":[154],"method.":[155],"Then,":[156],"considering":[157,174],"interaction":[159],"other":[161],"trucks,":[163],"topology-guided":[165],"decision":[170],"making":[171],"proposed,":[173],"possibility":[176],"cybersecurity.":[178],"The":[179,191],"proposed":[180],"was":[182],"validated":[183],"real":[185],"scenarios":[186],"environment.":[190],"results":[192],"verify":[193],"can":[197],"under":[202],"network":[203],"delay":[204],"2.0":[205],"s":[206],"conditions.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
