{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,7]],"date-time":"2026-03-07T01:45:34Z","timestamp":1772847934695,"version":"3.50.1"},"reference-count":33,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"1","license":[{"start":{"date-parts":[[2023,1,1]],"date-time":"2023-01-01T00:00:00Z","timestamp":1672531200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,1,1]],"date-time":"2023-01-01T00:00:00Z","timestamp":1672531200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,1,1]],"date-time":"2023-01-01T00:00:00Z","timestamp":1672531200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2023,1]]},"DOI":"10.1109\/lra.2022.3228175","type":"journal-article","created":{"date-parts":[[2022,12,9]],"date-time":"2022-12-09T18:38:40Z","timestamp":1670611120000},"page":"432-439","source":"Crossref","is-referenced-by-count":17,"title":["Handling Constrained Optimization in Factor Graphs for Autonomous Navigation"],"prefix":"10.1109","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2843-4324","authenticated-orcid":false,"given":"Barbara","family":"Bazzana","sequence":"first","affiliation":[{"name":"Department of Computer, Control, and Management Engineering “Antonio Ruberti”, Sapienza University of Rome, Rome, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7853-5510","authenticated-orcid":false,"given":"Tiziano","family":"Guadagnino","sequence":"additional","affiliation":[{"name":"Department of Computer, Control, and Management Engineering “Antonio Ruberti”, Sapienza University of Rome, Rome, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8038-9989","authenticated-orcid":false,"given":"Giorgio","family":"Grisetti","sequence":"additional","affiliation":[{"name":"Department of Computer, Control, and Management Engineering “Antonio Ruberti”, Sapienza University of Rome, Rome, Italy"}]}],"member":"263","reference":[{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2019.8814347"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9562000"},{"key":"ref31","article-title":"A factor-graph approach for optimization problems with dynamics constraints","author":"xie","year":"2020"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2014.6842254"},{"key":"ref10","first-page":"104","article-title":"Local incremental planning for nonholonomic mobile robots","author":"luca","year":"0","journal-title":"Proc IEEE Int Conf Robot Automat"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-061520-010504"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636649"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461077"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2016.XII.001"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2010.939925"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.3390\/robotics9030051"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385779"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917691110"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006706"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ROSE.2011.6058518"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1561\/2200000016"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.445"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995717"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-26327-4_9"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196649"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1016\/0168-9274(95)00108-5"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487631"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2963439"},{"key":"ref2","author":"bertsekas","year":"2014","journal-title":"Constrained Optimization and Lagrange Multiplier Methods"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696379"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1016\/S0005-1098(01)00174-1"},{"key":"ref20","first-page":"3607","article-title":"G2O: A general framework for graph optimization","author":"k\u00fcmmerle","year":"0","journal-title":"Proc IEEE Int Conf Robot Automat"},{"key":"ref22","article-title":"Signed distance fields: A natural representation for both mapping and planning","author":"oleynikova","year":"0","journal-title":"Proc Workshop Geometry Beyond-Representations Phys Scene Understanding Robot"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-018-9770-1"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1016\/S0377-0427(00)00433-7"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1007\/11681120_15"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206458"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ECMR.2013.6698833"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/9963768\/09978644.pdf?arnumber=9978644","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,1,9]],"date-time":"2023-01-09T20:46:06Z","timestamp":1673297166000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9978644\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,1]]},"references-count":33,"journal-issue":{"issue":"1"},"URL":"https:\/\/doi.org\/10.1109\/lra.2022.3228175","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,1]]}}}