{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:46:02Z","timestamp":1777715162205,"version":"3.51.4"},"reference-count":13,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[1991,6,1]],"date-time":"1991-06-01T00:00:00Z","timestamp":675734400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1991,6]]},"abstract":"<jats:p>We consider the problem of determining how fast an object must be capable of moving for it to be able to reach a given position at a given time while avoiding moving obstacles. The problem is to plan velocity profile along a given path so that collisions with moving obstacles crossing the path are avoided and the maximum velocity along the path is mini mized. Suppose the time-varying environment is fully speci fied, both in space and in time, by n linear constraints. An algorithm is presented that, given a full description of the environment and the initial configuration of the system (that is, initial position and starting time of the object), answers in O(log n) time queries of the form : \"What is the lowest speed limit that the object can obey while still being able to reach the query configuration from the initial configuration without colliding with the obstacles?\" The algorithm can also be used to compute a motion from the initial configuration to the query configuration that obeys the speed limit in O (n ) time. The algorithm requires O (n log n) preprocessing time and O (n) space.<\/jats:p>","DOI":"10.1177\/027836499101000304","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"228-239","source":"Crossref","is-referenced-by-count":12,"title":["Minimum-Speed Motions"],"prefix":"10.1177","volume":"10","author":[{"given":"Boris","family":"Aronov","sequence":"first","affiliation":[{"name":"Courant Institute of Mathematical Sciences New York University New York, New York 10012"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Steven","family":"Fortune","sequence":"additional","affiliation":[{"name":"AT&T Bell Laboratories Murray Hill, New Jersey 07974"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gordon","family":"Wilfong","sequence":"additional","affiliation":[{"name":"AT&T Bell Laboratories Murray Hill, New Jersey 07974"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1991,6,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1007\/BF01840436"},{"key":"atypb2","volume-title":"The Complexity of Robot Motion Planning","author":"Canny, J.F.","year":"1987"},{"key":"atypb3","volume-title":"29th Annual Symp. on Foundations of Computer Science","author":"Canny, J.F."},{"key":"atypb4","volume-title":"28th Annual Symp. on Foundations of Computer Science","author":"Canny, J.F."},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-61568-9"},{"key":"atypb6","volume-title":"Computers and Intractability: A Guide to the Theory of NP-Completeness","author":"Garey, M.R.","year":"1979"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500304"},{"key":"atypb8","doi-asserted-by":"crossref","unstructured":"Kapoor, S., and Maheshwani, S.N. 1988. Efficient algorithms for euclidean shortest path and visibility problems with polygonal obstacles. Proc. 4th ACM Syp. on Computational Geometry, pp. 172-182. New York, NY:ACM Press.","DOI":"10.1145\/73393.73411"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1007\/BF01840370"},{"key":"atypb10","volume-title":"Proc. 26th Annual Symp. on Foundations of Computer Science","author":"Reif, J.H."},{"issue":"7","key":"atypb11","first-page":"669","volume":"29","author":"Sarnak, N.","year":"1986","journal-title":"Comm. Assoc. Comp. Mach."},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1016\/0196-8858(83)90014-3"},{"key":"atypb13","unstructured":"Yap, C.K. 1987. Algorithmic motion planning. In Schwartz, J. T., and Yap, C. K. (eds.): Advances in Robotics, Volume 1: Algorithmic and Geometric Aspects of Robotic. Hills-dale, N.J.: Lawrence Erlbaum Assoc., pp. 95-144."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499101000304","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499101000304","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:14:14Z","timestamp":1777457654000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499101000304"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1991,6]]},"references-count":13,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1991,6]]}},"alternative-id":["10.1177\/027836499101000304"],"URL":"https:\/\/doi.org\/10.1177\/027836499101000304","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1991,6]]}}}