{"id":"https://openalex.org/W2896485520","doi":"https://doi.org/10.1109/ivs.2018.8500653","title":"From G2 to G3 Continuity: Continuous Curvature Rate Steering Functions for Sampling-Based Nonholonomic Motion Planning","display_name":"From G2 to G3 Continuity: Continuous Curvature Rate Steering Functions for Sampling-Based Nonholonomic Motion Planning","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2896485520","doi":"https://doi.org/10.1109/ivs.2018.8500653","mag":"2896485520"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2018.8500653","pdf_url":null,"source":{"id":"https://openalex.org/S4363605370","display_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5085188713","display_name":"Holger Banzhaf","orcid":"https://orcid.org/0000-0003-2160-413X"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Holger Banzhaf","raw_affiliation_strings":["Robert Bosch GmbH, Corporate Research, Driver Assistance Systems and Automated Driving, Renningen, Germany"],"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research, Driver Assistance Systems and Automated Driving, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047099046","display_name":"Nijanthan Berinpanathan","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":false,"raw_author_name":"Nijanthan Berinpanathan","raw_affiliation_strings":["ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044248872","display_name":"Dennis Nienh\u00fcser","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dennis Nienhuser","raw_affiliation_strings":["Robert Bosch GmbH, Corporate Research, Driver Assistance Systems and Automated Driving, Renningen, Germany"],"affiliations":[{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research, Driver Assistance Systems and Automated Driving, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060028048","display_name":"J. Marius Z\u00f6llner","orcid":"https://orcid.org/0000-0001-6190-7202"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Marius Zollner","raw_affiliation_strings":["FZI Research Center for Information Technology, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.79,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.763131,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":90},"biblio":{"volume":null,"issue":null,"first_page":"326","last_page":"333"},"is_retracted":false,"is_paratext":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":0.9943,"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":0.9762,"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":[],"concepts":[{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.76738286},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.47380584},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.46497726},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.46207336},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.43147448},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4274994},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41060233},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3645838},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35299182},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.34249187},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.27606344},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25180632},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23940456},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.2015115},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.18066657},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.15260705},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2018.8500653","pdf_url":null,"source":{"id":"https://openalex.org/S4363605370","display_name":"2022 IEEE Intelligent Vehicles Symposium (IV)","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.78}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":24,"referenced_works":["https://openalex.org/W1500269607","https://openalex.org/W1509540129","https://openalex.org/W1670000279","https://openalex.org/W1777783943","https://openalex.org/W1971998222","https://openalex.org/W1996183429","https://openalex.org/W2006103758","https://openalex.org/W2085195795","https://openalex.org/W2098029503","https://openalex.org/W2101593129","https://openalex.org/W2116842611","https://openalex.org/W2130772530","https://openalex.org/W2136445059","https://openalex.org/W2140376547","https://openalex.org/W2153284231","https://openalex.org/W2163385431","https://openalex.org/W2288650507","https://openalex.org/W2306644740","https://openalex.org/W2307155630","https://openalex.org/W2313274380","https://openalex.org/W2624006600","https://openalex.org/W2739561822","https://openalex.org/W2791468499","https://openalex.org/W2963229311"],"related_works":["https://openalex.org/W55883722","https://openalex.org/W3197207153","https://openalex.org/W3138952546","https://openalex.org/W2565094479","https://openalex.org/W2390829436","https://openalex.org/W2380019117","https://openalex.org/W2369187583","https://openalex.org/W2359600231","https://openalex.org/W1987886368","https://openalex.org/W1660309994"],"abstract_inverted_index":{"Motion":[0],"planning":[1],"for":[2,61],"car-like":[3,62],"robots":[4,63],"is":[5,137,157],"one":[6],"of":[7,34,71,108,164],"the":[8,31,35,38,41,72,78,162],"major":[9],"challenges":[10],"in":[11,24,40,91,106,169],"automated":[12,172],"driving.":[13],"It":[14,136],"requires":[15],"to":[16,160],"solve":[17],"a":[18,66],"two-point":[19,73],"boundary":[20],"value":[21],"problem":[22],"(BVP)":[23],"real":[25],"time":[26,110],"while":[27],"taking":[28],"into":[29],"account":[30],"nonholonomic":[32],"constraints":[33,76],"vehicle":[36],"and":[37,51,84,111,120,132,166],"obstacles":[39],"non-convex":[42],"environment.":[43],"This":[44],"paper":[45],"introduces":[46],"Hybrid":[47,130],"Curvature":[48,53,134],"Rate":[49,54],"(HCR)":[50],"Continuous":[52,133],"(CCR)":[55],"Steer:":[56],"Two":[57],"novel":[58],"steering":[59,102],"functions":[60,103],"that":[64,139],"compute":[65],"curvature":[67,82,86,140],"rate":[68,141],"continuous":[69,98,125],"solution":[70],"BVP.":[74],"Hard":[75],"on":[77],"maximum":[79,81,85],"curvature,":[80],"rate,":[83],"acceleration":[87],"are":[88,104],"satisfied":[89],"resulting":[90],"directly":[92],"driveable":[93],"G":[94,116,121],"3":[97],"paths.":[99],"The":[100,151],"presented":[101],"benchmarked":[105],"terms":[107],"computation":[109],"path":[112],"length":[113],"against":[114],"its":[115],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1":[119],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2":[124],"counterparts,":[126],"namely":[127],"Dubins,":[128],"Reeds-Shepp,":[129],"Curvature,":[131],"Steer.":[135],"shown":[138],"continuity":[142],"can":[143],"be":[144],"achieved":[145],"with":[146],"only":[147],"small":[148],"computational":[149],"overhead.":[150],"generic":[152],"motion":[153],"planner":[154],"Bidirectional":[155],"RRT*":[156],"finally":[158],"used":[159],"present":[161],"effectiveness":[163],"HCR":[165],"CCR":[167],"Steer":[168],"three":[170],"challenging":[171],"driving":[173],"scenarios.":[174]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2896485520","counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5}],"updated_date":"2024-12-06T02:05:19.350094","created_date":"2018-10-26"}
