Get quick answers to your questions about the article from our AI researcher chatbot
{'id': 'https://openalex.org/W2148970883', 'doi': 'https://doi.org/10.1109/70.326564', 'title': 'A motion planner for nonholonomic mobile robots', 'display_name': 'A motion planner for nonholonomic mobile robots', 'publication_year': 1994, 'publication_date': '1994-01-01', 'ids': {'openalex': 'https://openalex.org/W2148970883', 'doi': 'https://doi.org/10.1109/70.326564', 'mag': '2148970883'}, 'language': 'en', 'primary_location': {'is_oa': False, 'landing_page_url': 'https://doi.org/10.1109/70.326564', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S116420536', 'display_name': 'IEEE Transactions on Robotics and Automation', 'issn_l': '1042-296X', 'issn': ['1042-296X', '2374-958X'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310319808', 'host_organization_name': 'Institute of Electrical and Electronics Engineers', 'host_organization_lineage': ['https://openalex.org/P4310319808'], 'host_organization_lineage_names': ['Institute of Electrical and Electronics Engineers'], 'type': 'journal'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, 'type': 'article', 'type_crossref': 'journal-article', 'indexed_in': ['crossref'], 'open_access': {'is_oa': True, 'oa_status': 'green', 'oa_url': 'https://authors.library.caltech.edu/records/606zf-tfc37/files/00326564.pdf?download=1', 'any_repository_has_fulltext': True}, 'authorships': [{'author_position': 'first', 'author': {'id': 'https://openalex.org/A5108497455', 'display_name': 'Jean‐Paul Laumond', 'orcid': None}, 'institutions': [{'id': 'https://openalex.org/I190497903', 'display_name': "Laboratoire d'Analyse et d'Architecture des Systèmes", 'ror': 'https://ror.org/03vcm6439', 'country_code': 'FR', 'type': 'facility', 'lineage': ['https://openalex.org/I1294671590', 'https://openalex.org/I134560555', 'https://openalex.org/I190497903', 'https://openalex.org/I196454796', 'https://openalex.org/I205747304', 'https://openalex.org/I4210095849', 'https://openalex.org/I4210159245']}, {'id': 'https://openalex.org/I1294671590', 'display_name': 'Centre National de la Recherche Scientifique', 'ror': 'https://ror.org/02feahw73', 'country_code': 'FR', 'type': 'government', 'lineage': ['https://openalex.org/I1294671590']}], 'countries': ['FR'], 'is_corresponding': False, 'raw_author_name': 'J.-P. Laumond', 'raw_affiliation_strings': ['LAAS, CNRS, Toulouse, France'], 'affiliations': [{'raw_affiliation_string': 'LAAS, CNRS, Toulouse, France', 'institution_ids': ['https://openalex.org/I190497903', 'https://openalex.org/I1294671590']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5034156362', 'display_name': 'P. Jacobs', 'orcid': None}, 'institutions': [{'id': 'https://openalex.org/I190497903', 'display_name': "Laboratoire d'Analyse et d'Architecture des Systèmes", 'ror': 'https://ror.org/03vcm6439', 'country_code': 'FR', 'type': 'facility', 'lineage': ['https://openalex.org/I1294671590', 'https://openalex.org/I134560555', 'https://openalex.org/I190497903', 'https://openalex.org/I196454796', 'https://openalex.org/I205747304', 'https://openalex.org/I4210095849', 'https://openalex.org/I4210159245']}, {'id': 'https://openalex.org/I1294671590', 'display_name': 'Centre National de la Recherche Scientifique', 'ror': 'https://ror.org/02feahw73', 'country_code': 'FR', 'type': 'government', 'lineage': ['https://openalex.org/I1294671590']}, {'id': 'https://openalex.org/I4210087596', 'display_name': 'Qualcomm (United States)', 'ror': 'https://ror.org/002zrf773', 'country_code': 'US', 'type': 'company', 'lineage': ['https://openalex.org/I4210087596']}], 'countries': ['FR', 'US'], 'is_corresponding': False, 'raw_author_name': 'P.E. Jacobs', 'raw_affiliation_strings': ['LAAS, CNRS, Toulouse, France', 'Qualcomm, Inc., San Diego, CA, USA'], 'affiliations': [{'raw_affiliation_string': 'LAAS, CNRS, Toulouse, France', 'institution_ids': ['https://openalex.org/I190497903', 'https://openalex.org/I1294671590']}, {'raw_affiliation_string': 'Qualcomm, Inc., San Diego, CA, USA', 'institution_ids': ['https://openalex.org/I4210087596']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5063956676', 'display_name': 'Michel Taïx', 'orcid': 'https://orcid.org/0000-0001-7822-1848'}, 'institutions': [{'id': 'https://openalex.org/I190497903', 'display_name': "Laboratoire d'Analyse et d'Architecture des Systèmes", 'ror': 'https://ror.org/03vcm6439', 'country_code': 'FR', 'type': 'facility', 'lineage': ['https://openalex.org/I1294671590', 'https://openalex.org/I134560555', 'https://openalex.org/I190497903', 'https://openalex.org/I196454796', 'https://openalex.org/I205747304', 'https://openalex.org/I4210095849', 'https://openalex.org/I4210159245']}, {'id': 'https://openalex.org/I1294671590', 'display_name': 'Centre National de la Recherche Scientifique', 'ror': 'https://ror.org/02feahw73', 'country_code': 'FR', 'type': 'government', 'lineage': ['https://openalex.org/I1294671590']}], 'countries': ['FR'], 'is_corresponding': False, 'raw_author_name': 'M. Taix', 'raw_affiliation_strings': ['LAAS, CNRS, Toulouse, France'], 'affiliations': [{'raw_affiliation_string': 'LAAS, CNRS, Toulouse, France', 'institution_ids': ['https://openalex.org/I190497903', 'https://openalex.org/I1294671590']}]}, {'author_position': 'last', 'author': {'id': 'https://openalex.org/A5068600217', 'display_name': 'Richard M. Murray', 'orcid': 'https://orcid.org/0000-0002-5785-7481'}, 'institutions': [{'id': 'https://openalex.org/I95457486', 'display_name': 'University of California, Berkeley', 'ror': 'https://ror.org/01an7q238', 'country_code': 'US', 'type': 'education', 'lineage': ['https://openalex.org/I95457486']}, {'id': 'https://openalex.org/I122411786', 'display_name': 'California Institute of Technology', 'ror': 'https://ror.org/05dxps055', 'country_code': 'US', 'type': 'education', 'lineage': ['https://openalex.org/I122411786']}], 'countries': ['US'], 'is_corresponding': False, 'raw_author_name': 'R.M. Murray', 'raw_affiliation_strings': ['Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA', 'University of California Berkeley, Berkeley, CA, USA'], 'affiliations': [{'raw_affiliation_string': 'University of California Berkeley, Berkeley, CA, USA', 'institution_ids': ['https://openalex.org/I95457486']}, {'raw_affiliation_string': 'Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA', 'institution_ids': ['https://openalex.org/I122411786']}]}], 'institution_assertions': [], 'countries_distinct_count': 2, 'institutions_distinct_count': 5, 'corresponding_author_ids': [], 'corresponding_institution_ids': [], 'apc_list': None, 'apc_paid': None, 'fwci': 18.093, 'has_fulltext': True, 'fulltext_origin': 'pdf', 'cited_by_count': 580, 'citation_normalized_percentile': {'value': 0.999709, 'is_in_top_1_percent': True, 'is_in_top_10_percent': True}, 'cited_by_percentile_year': {'min': 99, 'max': 100}, 'biblio': {'volume': '10', 'issue': '5', 'first_page': '577', 'last_page': '593'}, 'is_retracted': False, 'is_paratext': False, 'primary_topic': {'id': 'https://openalex.org/T10586', 'display_name': 'Robotic Path Planning Algorithms', 'score': 0.9999, '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': 0.9999, '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': 0.9981, '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/T10571', 'display_name': 'Robotic Mechanisms and Dynamics', 'score': 0.9819, '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'}}], 'keywords': [{'id': 'https://openalex.org/keywords/nonholonomic-system', 'display_name': 'Nonholonomic system', 'score': 0.6168387}, {'id': 'https://openalex.org/keywords/turning-radius', 'display_name': 'Turning radius', 'score': 0.49161106}], 'concepts': [{'id': 'https://openalex.org/C81074085', 'wikidata': 'https://www.wikidata.org/wiki/Q366872', 'display_name': 'Motion planning', 'level': 3, 'score': 0.698594}, {'id': 'https://openalex.org/C19966478', 'wikidata': 'https://www.wikidata.org/wiki/Q4810574', 'display_name': 'Mobile robot', 'level': 3, 'score': 0.67795914}, {'id': 'https://openalex.org/C138632511', 'wikidata': 'https://www.wikidata.org/wiki/Q2478109', 'display_name': 'Nonholonomic system', 'level': 4, 'score': 0.6168387}, {'id': 'https://openalex.org/C90509273', 'wikidata': 'https://www.wikidata.org/wiki/Q11012', 'display_name': 'Robot', 'level': 2, 'score': 0.57463837}, {'id': 'https://openalex.org/C34388435', 'wikidata': 'https://www.wikidata.org/wiki/Q2267362', 'display_name': 'Bounded function', 'level': 2, 'score': 0.51245695}, {'id': 'https://openalex.org/C205148227', 'wikidata': 'https://www.wikidata.org/wiki/Q2558948', 'display_name': 'Turning radius', 'level': 2, 'score': 0.49161106}, {'id': 'https://openalex.org/C184720557', 'wikidata': 'https://www.wikidata.org/wiki/Q7825049', 'display_name': 'Topology (electrical circuits)', 'level': 2, 'score': 0.47378016}, {'id': 'https://openalex.org/C2777735758', 'wikidata': 'https://www.wikidata.org/wiki/Q817765', 'display_name': 'Path (computing)', 'level': 2, 'score': 0.46667874}, {'id': 'https://openalex.org/C33923547', 'wikidata': 'https://www.wikidata.org/wiki/Q395', 'display_name': 'Mathematics', 'level': 0, 'score': 0.45430925}, {'id': 'https://openalex.org/C41008148', 'wikidata': 'https://www.wikidata.org/wiki/Q21198', 'display_name': 'Computer science', 'level': 0, 'score': 0.4508776}, {'id': 'https://openalex.org/C126255220', 'wikidata': 'https://www.wikidata.org/wiki/Q141495', 'display_name': 'Mathematical optimization', 'level': 1, 'score': 0.35605627}, {'id': 'https://openalex.org/C154945302', 'wikidata': 'https://www.wikidata.org/wiki/Q11660', 'display_name': 'Artificial intelligence', 'level': 1, 'score': 0.313878}, {'id': 'https://openalex.org/C114614502', 'wikidata': 'https://www.wikidata.org/wiki/Q76592', 'display_name': 'Combinatorics', 'level': 1, 'score': 0.16356519}, {'id': 'https://openalex.org/C134306372', 'wikidata': 'https://www.wikidata.org/wiki/Q7754', 'display_name': 'Mathematical analysis', 'level': 1, 'score': 0.13958615}, {'id': 'https://openalex.org/C127413603', 'wikidata': 'https://www.wikidata.org/wiki/Q11023', 'display_name': 'Engineering', 'level': 0, 'score': 0.13266599}, {'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/C199360897', 'wikidata': 'https://www.wikidata.org/wiki/Q9143', 'display_name': 'Programming language', 'level': 1, 'score': 0.0}], 'mesh': [], 'locations_count': 2, 'locations': [{'is_oa': False, 'landing_page_url': 'https://doi.org/10.1109/70.326564', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S116420536', 'display_name': 'IEEE Transactions on Robotics and Automation', 'issn_l': '1042-296X', 'issn': ['1042-296X', '2374-958X'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310319808', 'host_organization_name': 'Institute of Electrical and Electronics Engineers', 'host_organization_lineage': ['https://openalex.org/P4310319808'], 'host_organization_lineage_names': ['Institute of Electrical and Electronics Engineers'], 'type': 'journal'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, {'is_oa': True, 'landing_page_url': 'https://resolver.caltech.edu/CaltechAUTHORS:20190318-150352226', 'pdf_url': 'https://authors.library.caltech.edu/records/606zf-tfc37/files/00326564.pdf?download=1', 'source': {'id': 'https://openalex.org/S4306402161', 'display_name': 'CaltechAUTHORS (California Institute of Technology)', 'issn_l': None, 'issn': None, 'is_oa': True, 'is_in_doaj': False, 'is_core': False, 'host_organization': 'https://openalex.org/I122411786', 'host_organization_name': 'California Institute of Technology', 'host_organization_lineage': ['https://openalex.org/I122411786'], 'host_organization_lineage_names': ['California Institute of Technology'], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': 'acceptedVersion', 'is_accepted': True, 'is_published': False}], 'best_oa_location': {'is_oa': True, 'landing_page_url': 'https://resolver.caltech.edu/CaltechAUTHORS:20190318-150352226', 'pdf_url': 'https://authors.library.caltech.edu/records/606zf-tfc37/files/00326564.pdf?download=1', 'source': {'id': 'https://openalex.org/S4306402161', 'display_name': 'CaltechAUTHORS (California Institute of Technology)', 'issn_l': None, 'issn': None, 'is_oa': True, 'is_in_doaj': False, 'is_core': False, 'host_organization': 'https://openalex.org/I122411786', 'host_organization_name': 'California Institute of Technology', 'host_organization_lineage': ['https://openalex.org/I122411786'], 'host_organization_lineage_names': ['California Institute of Technology'], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': 'acceptedVersion', 'is_accepted': True, 'is_published': False}, 'sustainable_development_goals': [{'display_name': 'Sustainable cities and communities', 'id': 'https://metadata.un.org/sdg/11', 'score': 0.75}], 'grants': [], 'datasets': [], 'versions': [], 'referenced_works_count': 63, 'referenced_works': ['https://openalex.org/W101508493', 'https://openalex.org/W150708112', 'https://openalex.org/W1512416545', 'https://openalex.org/W1516027685', 'https://openalex.org/W1526351240', 'https://openalex.org/W1554417727', 'https://openalex.org/W1587069887', 'https://openalex.org/W1587799944', 'https://openalex.org/W1589003351', 'https://openalex.org/W1593603341', 'https://openalex.org/W1654807447', 'https://openalex.org/W1668333308', 'https://openalex.org/W1775521486', 'https://openalex.org/W1864976907', 'https://openalex.org/W1885398499', 'https://openalex.org/W1964300374', 'https://openalex.org/W1965440866', 'https://openalex.org/W1971998222', 'https://openalex.org/W1976058996', 'https://openalex.org/W2012242725', 'https://openalex.org/W2033013465', 'https://openalex.org/W2034280776', 'https://openalex.org/W2042038080', 'https://openalex.org/W2059654406', 'https://openalex.org/W206404087', 'https://openalex.org/W2070267857', 'https://openalex.org/W2071355416', 'https://openalex.org/W2096395363', 'https://openalex.org/W2098960740', 'https://openalex.org/W2100374022', 'https://openalex.org/W2101196304', 'https://openalex.org/W2104761885', 'https://openalex.org/W2117321644', 'https://openalex.org/W2117435665', 'https://openalex.org/W2118175378', 'https://openalex.org/W2138248218', 'https://openalex.org/W2138462423', 'https://openalex.org/W2138705757', 'https://openalex.org/W2140998418', 'https://openalex.org/W2158380902', 'https://openalex.org/W2163042598', 'https://openalex.org/W2166034910', 'https://openalex.org/W2166622402', 'https://openalex.org/W2166813059', 'https://openalex.org/W2167045953', 'https://openalex.org/W2170508483', 'https://openalex.org/W2179186822', 'https://openalex.org/W2228139230', 'https://openalex.org/W2313274380', 'https://openalex.org/W2404694939', 'https://openalex.org/W272007376', 'https://openalex.org/W2965952461', 'https://openalex.org/W3023013429', 'https://openalex.org/W3115975285', 'https://openalex.org/W3188953039', 'https://openalex.org/W4205424143', 'https://openalex.org/W4229558925', 'https://openalex.org/W4230748836', 'https://openalex.org/W4242811155', 'https://openalex.org/W4249823714', 'https://openalex.org/W4251794413', 'https://openalex.org/W4285719527', 'https://openalex.org/W76362643'], 'related_works': ['https://openalex.org/W3158921809', 'https://openalex.org/W2618632915', 'https://openalex.org/W2559356576', 'https://openalex.org/W2383775285', 'https://openalex.org/W2161428574', 'https://openalex.org/W2046076203', 'https://openalex.org/W2020829486', 'https://openalex.org/W2016451691', 'https://openalex.org/W1980828932', 'https://openalex.org/W1904098742'], 'abstract_inverted_index': {'This': [0, 119], 'paper': [1], 'considers': [2], 'the': [3, 53, 97, 100, 109, 117, 125, 128, 132, 137, 145, 150, 154, 160, 163], 'problem': [4], 'of': [5, 41, 67, 76, 99, 116, 127, 134, 165], 'motion': [6, 54, 182], 'planning': [7], 'for': [8, 32, 84, 180], 'a': [9, 13, 17, 27, 42, 47, 63, 88], 'car-like': [10, 161], 'robot': [11, 15, 35, 89], '(i.e.,': [12], 'mobile': [14, 34], 'with': [16], 'nonholonomic': [18, 181], 'constraint': [19], 'whose': [20], 'turning': [21], 'radius': [22], 'is': [23, 59, 66, 121], 'lower-bounded).': [24], 'We': [25, 142], 'present': [26], 'fast': [28], 'and': [29, 96, 149, 176], 'exact': [30], 'planner': [31, 50], 'our': [33], 'model,': [36], 'based': [37], 'upon': [38, 159], 'recursive': [39], 'subdivision': [40], 'collision-free': [43], 'path': [44, 64], 'generated': [45], 'by': [46, 81, 123], 'lower-level': [48], 'geometric': [49], 'that': [51, 65, 86, 144], 'ignores': [52], 'constraints.': [55], 'The': [56, 94], 'resultant': [57], 'trajectory': [58], 'optimized': [60], 'to': [61, 169, 177], 'give': [62], 'near-minimal': [68], 'length': [69, 126], 'in': [70, 108, 131], 'its': [71], 'homotopy': [72], 'class.': [73], 'Our': [74], 'claims': [75], 'high': [77], 'speed': [78], 'are': [79, 102, 153], 'supported': [80], 'experimental': [82], 'results': [83, 179], 'implementations': [85], 'assume': [87], 'moving': [90], 'amid': [91], 'polygonal': [92], 'obstacles.': [93], 'completeness': [95], 'complexity': [98], 'algorithm': [101], 'proven': [103], 'using': [104, 124], 'an': [105], 'appropriate': [106], 'metric': [107, 120], 'configuration': [110], 'space': [111], 'R/sup': [112], '2//spl': [113], 'times/S/sup': [114], '1/': [115], 'robot.': [118], 'defined': [122], 'shortest': [129], 'paths': [130], 'absence': [133], 'obstacles': [135], 'as': [136], 'distance': [138], 'between': [139], 'two': [140], 'configurations.': [141], 'prove': [143], 'new': [146, 170], 'induced': [147], 'topology': [148], 'classical': [151], 'one': [152], 'same.': [155], 'Although': [156], 'we': [157], 'concentrate': [158], 'robot,': [162], 'generalization': [164], 'these': [166], 'techniques': [167], 'leads': [168], 'theoretical': [171], 'issues': [172], 'involving': [173], 'sub-Riemannian': [174], 'geometry': [175], 'practical': [178], 'planning.<': [183], '<ETX': [184], 'xmlns:mml="http://www.w3.org/1998/Math/MathML"': [185], 'xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>': [186]}, 'cited_by_api_url': 'https://api.openalex.org/works?filter=cites:W2148970883', 'counts_by_year': [{'year': 2024, 'cited_by_count': 7}, {'year': 2023, 'cited_by_count': 12}, {'year': 2022, 'cited_by_count': 6}, {'year': 2021, 'cited_by_count': 21}, {'year': 2020, 'cited_by_count': 18}, {'year': 2019, 'cited_by_count': 11}, {'year': 2018, 'cited_by_count': 8}, {'year': 2017, 'cited_by_count': 18}, {'year': 2016, 'cited_by_count': 10}, {'year': 2015, 'cited_by_count': 20}, {'year': 2014, 'cited_by_count': 22}, {'year': 2013, 'cited_by_count': 19}, {'year': 2012, 'cited_by_count': 21}], 'updated_date': '2024-12-13T17:27:14.285760', 'created_date': '2016-06-24'}