{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,16]],"date-time":"2026-01-16T06:27:00Z","timestamp":1768544820217,"version":"3.49.0"},"reference-count":35,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2017,9,25]],"date-time":"2017-09-25T00:00:00Z","timestamp":1506297600000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2018,6]]},"DOI":"10.1007\/s10846-017-0693-4","type":"journal-article","created":{"date-parts":[[2017,9,25]],"date-time":"2017-09-25T12:33:38Z","timestamp":1506342818000},"page":"537-549","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":23,"title":["Spline-based RRT\u2217 Using Piecewise Continuous Collision-checking Algorithm for Car-like Vehicles"],"prefix":"10.1007","volume":"90","author":[{"given":"Sangyol","family":"Yoon","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dasol","family":"Lee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiwon","family":"Jung","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David Hyunchul","family":"Shim","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2017,9,25]]},"reference":[{"issue":"8","key":"693_CR1","doi-asserted-by":"crossref","first-page":"933","DOI":"10.1177\/0278364909340445","volume":"28","author":"M Likhachev","year":"2009","unstructured":"Likhachev, M., Ferguson, D.: Planning long dynamically feasible maneuvers for autonomous vehicles. Int. J. Robot. Res. 28(8), 933\u2013945 (2009)","journal-title":"Int. J. Robot. Res."},{"issue":"5","key":"693_CR2","doi-asserted-by":"crossref","first-page":"485","DOI":"10.1177\/0278364909359210","volume":"29","author":"D Dolgov","year":"2010","unstructured":"Dolgov, D., Thrun, S., Montemerlo, M., Diebel, J.: Path planning for autonomous vehicles in unknown semi-structured environments. Int. J. Robot. Res. 29(5), 485\u2013501 (2010)","journal-title":"Int. J. Robot. Res."},{"issue":"5","key":"693_CR3","doi-asserted-by":"crossref","first-page":"2797","DOI":"10.1109\/TITS.2015.2422991","volume":"16","author":"S Yoon","year":"2015","unstructured":"Yoon, S., Yoon, S. E., Lee, U., Shim, D.H.: Recursive path planning using reduced states for car-like vehicles on grid maps. IEEE Trans. Intell. Transp. Syst. 16(5), 2797\u20132813 (2015)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"693_CR4","doi-asserted-by":"crossref","first-page":"93","DOI":"10.1016\/j.artint.2003.12.001","volume":"155","author":"S Koenig","year":"2004","unstructured":"Koenig, S., Likhachev, M., Furcy, D.: Lifelong planning A\u2217. Artif. Intell. 155, 93\u2013146 (2004)","journal-title":"Artif. Intell."},{"issue":"2","key":"693_CR5","doi-asserted-by":"crossref","first-page":"730","DOI":"10.1109\/TITS.2014.2340020","volume":"16","author":"S Yoon","year":"2015","unstructured":"Yoon, S., Shim, D.H.: SLPA,\u2217: Shape-aware lifelong planning A\u2217 for differential wheeled vehicles. IEEE Trans. Intell. Transp. Syst. 16(2), 730\u2013740 (2015)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"693_CR6","doi-asserted-by":"crossref","unstructured":"Svestka, P., Overmars, M.H.: Coordinated motion planning for multiple car-like robots using probabilistic roadmaps. In: ICRA, pp 1631\u20131636 (1995)","DOI":"10.1109\/ROBOT.1995.525508"},{"issue":"5","key":"693_CR7","doi-asserted-by":"crossref","first-page":"378","DOI":"10.1177\/02783640122067453","volume":"20","author":"SM LaValle","year":"2001","unstructured":"LaValle, S. M., James, J., Kuffner, J.: Randomized kinodynamic planning. Int. J. Robot. Res. 20(5), 378\u2013400 (2001)","journal-title":"Int. J. Robot. Res."},{"issue":"5","key":"693_CR8","doi-asserted-by":"crossref","first-page":"1105","DOI":"10.1109\/TCST.2008.2012116","volume":"17","author":"Y Kuwata","year":"2009","unstructured":"Kuwata, Y., Teo, J., Fiore, G., Karaman, S., Frazzoli, E., How, J.P.: Real-time motion planning with applications to autonomous urban driving. IEEE Trans. Control Syst. Technol. 17(5), 1105\u20131118 (2009)","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"693_CR9","doi-asserted-by":"crossref","unstructured":"Goretkin, G., Perez, A., Platt, R, Konidaris, G.: Optimal sampling-based planning for linear-quadratic kinodynamic systems. In: ICRA, pp. 2429\u20132436 (2013)","DOI":"10.1109\/ICRA.2013.6630907"},{"key":"693_CR10","doi-asserted-by":"crossref","unstructured":"Karaman, S., Frazzoli, E.: Optimal kinodynamic motion planning using incremental sampling-based methods. In: IEEE Conference on Decision and Control, pp. 7681\u20137687 (2010)","DOI":"10.1109\/CDC.2010.5717430"},{"key":"693_CR11","doi-asserted-by":"crossref","unstructured":"Yang, K., Moon, S., Yoo, S., Kang, J., Doh, N. L., Kim, H. B., Joo, S.: Spline-based RRT path planner for non-holonomic robots. J. Intell Robot Syst. 1\u201320 (2013)","DOI":"10.1109\/ICUAS.2013.6564701"},{"key":"693_CR12","doi-asserted-by":"crossref","unstructured":"Yang, K., Gan, S. K., Huh, J., Joo, S.: Optimal spline-based RRT path planning using probabilistic map. In: International Conference on Control, Automation and Systems (ICCAS), pp. 643\u2013646 (2014)","DOI":"10.1109\/ICCAS.2014.6987859"},{"issue":"3","key":"693_CR13","doi-asserted-by":"crossref","first-page":"497","DOI":"10.2307\/2372560","volume":"79","author":"LE Dubins","year":"1957","unstructured":"Dubins, L.E.: On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents. Am. J. Math. 79(3), 497\u2013516 (1957)","journal-title":"Am. J. Math."},{"key":"693_CR14","doi-asserted-by":"crossref","unstructured":"Connors, J., Elkaim, G.: Analysis of a spline based, obstacle avoiding path planning algorithm. In: IEEE Vehicular Technology Conference, pp. 2565\u20132569 (2007)","DOI":"10.1109\/VETECS.2007.528"},{"key":"693_CR15","doi-asserted-by":"crossref","unstructured":"Perez, A., Platt, R, Konidaris, G., Kaelbling, L., Lozano-Perez, T.: LQR-RRT\u2217: Optimal sampling-based motion planning with automatically derived extension heuristics. In: ICRA, pp. 2537\u20132542 (2012)","DOI":"10.1109\/ICRA.2012.6225177"},{"key":"693_CR16","doi-asserted-by":"crossref","unstructured":"Webb, D. J., van den Berg, J.: Kinodynamic RRT\u2217: Asymptotically optimal motion planning for robots with linear dynamics. In: ICRA, pp. 5054\u20135061 (2013)","DOI":"10.1109\/ICRA.2013.6631299"},{"key":"693_CR17","doi-asserted-by":"crossref","unstructured":"Palmieri, L., Arras, K.O.: A novel RRT extend function for efficient and smooth mobile robot motion planning. In: IROS, pp. 205\u2013211 (2014)","DOI":"10.1109\/IROS.2014.6942562"},{"key":"693_CR18","doi-asserted-by":"crossref","unstructured":"Yershova, A., Jaillet, L., Sim\u00e9on, T., LaValle, S.M.: Dynamic-domain RRTs: Efficient exploration by controlling the sampling domain. In: ICRA, pp. 3856\u20133861 (2005)","DOI":"10.1109\/ROBOT.2005.1570709"},{"issue":"4","key":"693_CR19","doi-asserted-by":"crossref","first-page":"1002","DOI":"10.1109\/TRO.2014.2309836","volume":"30","author":"J Lee","year":"2014","unstructured":"Lee, J., Kwon, O., Zhang, L., Yoon, S.E.: A selective retraction-based RRT planner for various environments. IEEE Trans. Robot. 30(4), 1002\u20131011 (2014)","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"693_CR20","doi-asserted-by":"crossref","first-page":"329","DOI":"10.1023\/A:1007937713460","volume":"18","author":"A Pruski","year":"1997","unstructured":"Pruski, A., Rohmer, S.: Robust path planning for non-holonomic robots. J. Intell. Robot. Syst. 18(4), 329\u2013350 (1997)","journal-title":"J. Intell. Robot. Syst."},{"issue":"11","key":"693_CR21","doi-asserted-by":"crossref","first-page":"983","DOI":"10.1177\/0278364905059061","volume":"24","author":"G Varadhan","year":"2005","unstructured":"Varadhan, G., Sriram, S. K. T. V. N., Manocha, D.: A simple algorithm for complete motion planning of translating polyhedral robots. Int. J. Robot. Res. 24(11), 983\u2013995 (2005)","journal-title":"Int. J. Robot. Res."},{"issue":"8","key":"693_CR22","doi-asserted-by":"crossref","first-page":"762","DOI":"10.1177\/02783640022067157","volume":"19","author":"KD Wise","year":"2000","unstructured":"Wise, K. D., Bowyer, A.: A survey of global configuration-space mapping techniques for a single robot in a static environment. Int. J. Robot. Res. 19(8), 762\u2013779 (2000)","journal-title":"Int. J. Robot. Res."},{"issue":"2","key":"693_CR23","doi-asserted-by":"crossref","first-page":"367","DOI":"10.1109\/TRO.2009.2011526","volume":"25","author":"J Minguez","year":"2009","unstructured":"Minguez, J., Montano, L.: Extending collision avoidance methods to consider the vehicle shape, kinematics, and dynamics of a mobile robot. IEEE Trans. Robot. 25(2), 367\u2013381 (2009)","journal-title":"IEEE Trans. Robot."},{"issue":"3","key":"693_CR24","doi-asserted-by":"crossref","first-page":"561","DOI":"10.1109\/TRO.2010.2042990","volume":"26","author":"K Yang","year":"2010","unstructured":"Yang, K., Sukkarieh, S.: An analytical continuous-curvature path-smoothing algorithm. IEEE Trans. Robot. 26(3), 561\u2013568 (2010)","journal-title":"IEEE Trans. Robot."},{"key":"693_CR25","doi-asserted-by":"crossref","first-page":"387","DOI":"10.1007\/BF00270450","volume":"16","author":"A Bicchi","year":"1996","unstructured":"Bicchi, A., Casalino, G., Santilli, C.: Planning shortest bounded-curvature paths for a class of nonholonomic vehicles among obstacles. J. Intell. Robot. Syst. 16, 387\u2013405 (1996)","journal-title":"J. Intell. Robot. Syst."},{"key":"693_CR26","doi-asserted-by":"crossref","first-page":"107","DOI":"10.1002\/cav.166","volume":"18","author":"R Geraerts","year":"2007","unstructured":"Geraerts, R., Overmars, M.H.: The corridor map method: a general framework for real-time high-quality path planning. Comput. Anim. Virt. Worlds 18, 107\u2013119 (2007)","journal-title":"Comput. Anim. Virt. Worlds"},{"key":"693_CR27","doi-asserted-by":"crossref","first-page":"350","DOI":"10.1016\/j.cad.2009.12.007","volume":"42","author":"T Maekawa","year":"2010","unstructured":"Maekawa, T., Noda, T., Tamura, S., Ozaki, T., Ichiro Machida, K.: Curvature continuous path generation for autonomous vehicle using B-spline curves. Comput. Aided Des. 42, 350\u2013359 (2010)","journal-title":"Comput. Aided Des."},{"issue":"4","key":"693_CR28","doi-asserted-by":"crossref","first-page":"419","DOI":"10.1016\/S0952-1976(01)00004-5","volume":"14","author":"F G\u00f3mez-Bravo","year":"2001","unstructured":"G\u00f3mez-Bravo, F., Cuesta, F., Ollero, A.: Parallel and diagonal parking in nonholonomic autonomous vehicles. Eng. Appl. Artif. Intel. 14(4), 419\u2013434 (2001)","journal-title":"Eng. Appl. Artif. Intel."},{"key":"693_CR29","doi-asserted-by":"crossref","unstructured":"Jazar, R.N.: Vehicle Dynamics: Theory and Applications. Springer (2008)","DOI":"10.1007\/978-0-387-74244-1"},{"key":"693_CR30","doi-asserted-by":"crossref","unstructured":"Luca, A. D., Oriolo, G., Samson, C., Laumond, J.P.: Feedback control of a nonholonomic car-like robot. In:Robot motion planning and control, pp. 171\u2013253. Springer (1998)","DOI":"10.1007\/BFb0036073"},{"key":"693_CR31","unstructured":"Anand, V.B.: Computer Graphics and Geometric Modeling for Engineers, 1st edn. Wiley (1993)"},{"key":"693_CR32","unstructured":"Zill, D. G., Cullen, M.R.: Advanced Engineering Mathematics PWS. Publishing Company (1992)"},{"issue":"7","key":"693_CR33","doi-asserted-by":"crossref","first-page":"846","DOI":"10.1177\/0278364911406761","volume":"30","author":"S Karaman","year":"2011","unstructured":"Karaman, S., Frazzoli, E.: Sampling-based algorithms for optimal motion planning. Int. J. Robot. Res. 30 (7), 846\u2013894 (2011)","journal-title":"Int. J. Robot. Res."},{"key":"693_CR34","doi-asserted-by":"crossref","unstructured":"Karaman, S., Frazzoli, E.: Sampling-based optimal motion planning for non-holonomic dynamical systems. In: ICRA, pp. 5041\u20135047 (2013)","DOI":"10.1109\/ICRA.2013.6631297"},{"key":"693_CR35","doi-asserted-by":"crossref","unstructured":"Lee, U., Jung, J., Shin, S., Jeong, Y., Park, K., Shim, D. H., So Kwon, I.: EureCar turbo: A self-driving car that can handle adverse weather conditions. In: The International Conference of Intelligent Robots and Systems (IROS), pp. 2301\u20132306 (2016)","DOI":"10.1109\/IROS.2016.7759359"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-017-0693-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0693-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0693-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,25]],"date-time":"2025-06-25T21:58:11Z","timestamp":1750888691000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-017-0693-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,9,25]]},"references-count":35,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2018,6]]}},"alternative-id":["693"],"URL":"https:\/\/doi.org\/10.1007\/s10846-017-0693-4","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,9,25]]}}}