{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T14:38:41Z","timestamp":1775054321125,"version":"3.50.1"},"reference-count":14,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[1995,4,1]],"date-time":"1995-04-01T00:00:00Z","timestamp":796694400000},"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":[[1995,4]]},"abstract":"<jats:p> Recent theoretical results have completely solved the problem of determining the minimal length path for a vehicle moving from an initial configuration to a final configuration. Time- optimal paths for a constant-speed vehicle are a subset of the minimum length paths. The time-optimal paths consist of sequences of arcs of circles and straight lines. The Pontrya gin Maximum Principle introduces concepts (dual variables, bang-bang solutions, singular solutions, and transversality conditions) that provide important insight into the nature of the time-optimal paths. We have created a module that finds the time-optimal path from an initial canfrguration to a final configuration. We have demonstrated that the paths can be followed by a large (820-kg) mobile robot. <\/jats:p>","DOI":"10.1177\/027836499501400208","type":"journal-article","created":{"date-parts":[[2007,3,5]],"date-time":"2007-03-05T01:24:06Z","timestamp":1173057846000},"page":"184-194","source":"Crossref","is-referenced-by-count":8,"title":["Time-Optimal Paths for High-Speed Maneuvering"],"prefix":"10.1177","volume":"14","author":[{"given":"David B.","family":"Reister","sequence":"first","affiliation":[{"name":"Center for Engineering Systems Advanced Research Oak Ridge National Laboratory Oak Ridge, Tennessee 37831-6364"}]},{"given":"Suzanne M.","family":"Lenhart","sequence":"additional","affiliation":[{"name":"Center for Engineering Systems Advanced Research Oak Ridge National Laboratory Oak Ridge, Tennessee 37831-6364"}]}],"member":"179","published-online":{"date-parts":[[1995,4,1]]},"reference":[{"key":"atypb1","first-page":"2315","author":"Boissonnat, J.D.","year":"1992","journal-title":"Automation"},{"key":"atypb2","unstructured":"Cybermotion. 1991. Roanoke, VA."},{"key":"atypb3","volume-title":"Mobile Robotics","author":"Denning","year":"1991"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.2307\/2372560"},{"key":"atypb5","volume-title":"Proc. IEEE International Conference on Robotics and Automation","author":"Jacobs. P."},{"key":"atypb6","unstructured":"Nomadic Technologies, Inc. 1991. Palo Alto, CA."},{"key":"atypb7","volume-title":"Proc. IEEE International Workshop on Intelligent Motion Control","author":"Pin, F.G."},{"key":"atypb8","volume-title":"The Mathematical Theory of Optimal Processes","author":"Pontryagin, L.S.","year":"1962"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.2140\/pjm.1990.145.367"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700008183"},{"key":"atypb11","volume-title":"Synthese des plus courts chemins pour la voiture de Reeds et Shepp","author":"Soueres, P.","year":"1992"},{"key":"atypb12","volume-title":"Shortest paths for the Reeds-Shepp car: A worked out example of the use of geometric techniques in nonlinear optimal control","author":"Sussmann, H.J.","year":"1991"},{"key":"atypb13","first-page":"1496","author":"Vasseur, H.A.","year":"1991","journal-title":"Automation"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700007268"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499501400208","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499501400208","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,3]],"date-time":"2025-03-03T16:16:49Z","timestamp":1741018609000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499501400208"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1995,4]]},"references-count":14,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1995,4]]}},"alternative-id":["10.1177\/027836499501400208"],"URL":"https:\/\/doi.org\/10.1177\/027836499501400208","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1995,4]]}}}