{"id":"https://openalex.org/W2099919002","doi":"https://doi.org/10.1109/iros.2007.4398968","title":"Kinodynamic motion planning on roadmaps in dynamic environments","display_name":"Kinodynamic motion planning on roadmaps in dynamic environments","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2099919002","doi":"https://doi.org/10.1109/iros.2007.4398968","mag":"2099919002"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4398968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4398968","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5108617083","display_name":"Jur van den Berg","orcid":null},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]},{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jur van den Berg","raw_affiliation_strings":["Department of Computer Science, North Carolina State University, Chapel Hill, USA","University of North Carolina at Chapel Hill, Chapel Hill"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, North Carolina State University, Chapel Hill, USA","institution_ids":["https://openalex.org/I137902535"]},{"raw_affiliation_string":"University of North Carolina at Chapel Hill, Chapel Hill","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109262027","display_name":"Mark Overmars","orcid":null},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mark Overmars","raw_affiliation_strings":["Department of Information and Computing Sciences, Universiteit Utrecht, Netherlands","[Department of Information and Computing Sciences, Universiteit Utrecht, The Netherlands]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information and Computing Sciences, Universiteit Utrecht, Netherlands","institution_ids":["https://openalex.org/I193662353"]},{"raw_affiliation_string":"[Department of Information and Computing Sciences, Universiteit Utrecht, The Netherlands]","institution_ids":["https://openalex.org/I193662353"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1535,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.93499916,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4253","last_page":"4258"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9921000003814697,"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/T11574","display_name":"Artificial Intelligence in Games","score":0.9887999892234802,"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/motion-planning","display_name":"Motion planning","score":0.7835761308670044},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6947447061538696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.680463433265686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.618799090385437},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6072860956192017},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5597847700119019},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5433568954467773},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5192330479621887},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4852275848388672},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.45089957118034363},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3723781704902649},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35820460319519043},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32797425985336304},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3231850564479828},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2099517285823822},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13654768466949463}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7835761308670044},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6947447061538696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.680463433265686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.618799090385437},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6072860956192017},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5597847700119019},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5433568954467773},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5192330479621887},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4852275848388672},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.45089957118034363},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3723781704902649},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35820460319519043},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32797425985336304},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3231850564479828},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2099517285823822},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13654768466949463},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2007.4398968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4398968","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.133.859","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.133.859","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.unc.edu/~berg/IROS2007-1.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8199999928474426,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W14248017","https://openalex.org/W599341852","https://openalex.org/W1424654272","https://openalex.org/W1561134994","https://openalex.org/W1968478252","https://openalex.org/W1973400989","https://openalex.org/W1982809790","https://openalex.org/W2000359213","https://openalex.org/W2000790002","https://openalex.org/W2007193228","https://openalex.org/W2036016432","https://openalex.org/W2048820947","https://openalex.org/W2120154279","https://openalex.org/W2128990851","https://openalex.org/W2135027849","https://openalex.org/W2144481803","https://openalex.org/W2159722616","https://openalex.org/W2169742265","https://openalex.org/W2611243847","https://openalex.org/W4238526431","https://openalex.org/W6600586768"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2150982344","https://openalex.org/W4292862729","https://openalex.org/W2170661558"],"abstract_inverted_index":{"In":[0,52],"this":[1],"paper":[2],"we":[3,99],"present":[4,22],"a":[5,33,58,107],"new":[6],"method":[7],"for":[8],"kinodynamic":[9],"motion":[10],"planning":[11],"in":[12,27],"environments":[13],"that":[14,35,64,101],"contain":[15],"both":[16],"static":[17,42],"and":[18,44,76,115],"moving":[19,83,96],"obstacles.":[20,84],"We":[21,85,111],"an":[23],"efficient":[24],"two-stage":[25],"approach:":[26],"the":[28,41,46,50,53,62,66,74,82,92,95],"preprocessing":[29],"phase,":[30,55],"it":[31,56],"constructs":[32],"roadmap":[34,63],"is":[36,109],"collision-free":[37],"with":[38,79],"respect":[39],"to":[40],"obstacles":[43],"encodes":[45],"kinematic":[47],"constraints":[48,68,90],"on":[49,61,73,91],"robot.":[51],"query":[54,108],"plans":[57],"time-optimal":[59],"path":[60],"obeys":[65],"dynamic":[67],"(bounded":[69],"acceleration,":[70],"curvature":[71],"derivative)":[72],"robot":[75],"avoids":[77],"collisions":[78],"any":[80,89],"of":[81,94],"do":[86],"not":[87],"put":[88],"motions":[93],"obstacles,":[97],"but":[98],"assume":[100],"they":[102],"are":[103],"completely":[104],"known":[105],"when":[106],"performed.":[110],"implemented":[112],"our":[113],"method,":[114],"experiments":[116],"confirm":[117],"its":[118],"good":[119],"performance.":[120]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}