{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,6]],"date-time":"2026-02-06T02:07:07Z","timestamp":1770343627445,"version":"3.49.0"},"reference-count":32,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,7,8]],"date-time":"2025-07-08T00:00:00Z","timestamp":1751932800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,7,8]],"date-time":"2025-07-08T00:00:00Z","timestamp":1751932800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100016311","name":"Arm","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100016311","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,7,8]]},"DOI":"10.23919\/acc63710.2025.11108073","type":"proceedings-article","created":{"date-parts":[[2025,8,21]],"date-time":"2025-08-21T18:17:51Z","timestamp":1755800271000},"page":"3700-3705","source":"Crossref","is-referenced-by-count":3,"title":["LQR-CBF-RRT*: Safe and Optimal Motion Planning"],"prefix":"10.23919","author":[{"given":"Guang","family":"Yang","sequence":"first","affiliation":[{"name":"University of Cambridge,Department of Computer Science,Cambridge,UK"}]},{"given":"Mingyu","family":"Cai","sequence":"additional","affiliation":[{"name":"University of California,Department of Mechanical Engineering,Riverside,CA,USA"}]},{"given":"Ahmad","family":"Ahmad","sequence":"additional","affiliation":[{"name":"Boston University,Division of Systems Engineering,Boston,MA,USA"}]},{"given":"Amanda","family":"Prorok","sequence":"additional","affiliation":[{"name":"University of Cambridge,Department of Computer Science,Cambridge,UK"}]},{"given":"Roberto","family":"Tron","sequence":"additional","affiliation":[{"name":"Boston University,Division of Systems Engineering,Boston,MA,USA"}]},{"given":"Calin","family":"Belta","sequence":"additional","affiliation":[{"name":"University of Maryland,Department of Electrical and Computer Engineering,College Park,MD,USA"}]}],"member":"263","reference":[{"key":"ref1","article-title":"Rapidly-exploring random trees: A new tool for path planning","author":"LaValle","year":"1998"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942976"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-36279-8_22"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916640908"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912444543"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/CDC51059.2022.9993278"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2015.11.152"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2016.2638961"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/CDC42340.2020.9304395"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1145\/3365265.3365282"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/CCTA.2017.8062689"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152874"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/CDC45484.2021.9682803"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911406761"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2016.2517124"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910369189"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2014.6859404"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.23919\/ACC50511.2021.9482626"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225177"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2012.6284384"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2020.113425"},{"key":"ref22","article-title":"Nonlinear systems third edition","volume":"115","author":"Khalil","year":"2002","journal-title":"Patience Hall"},{"key":"ref23","volume-title":"Dynamic programming and optimal control: Volume I","volume":"4","author":"Bertsekas","year":"2012"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/CDC40024.2019.9029455"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196553"},{"key":"ref26","volume-title":"Model predictive control","author":"Camacho","year":"2013"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386025"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915614386"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2888947"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2010.5717430"},{"key":"ref31","article-title":"The cambridge robomaster: An agile multi-robot research platform","author":"Blumenkamp","year":"2024"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9562076"}],"event":{"name":"2025 American Control Conference (ACC)","location":"Denver, CO, USA","start":{"date-parts":[[2025,7,8]]},"end":{"date-parts":[[2025,7,10]]}},"container-title":["2025 American Control Conference (ACC)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11107441\/11107442\/11108073.pdf?arnumber=11108073","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,22]],"date-time":"2025-08-22T23:57:28Z","timestamp":1755907048000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11108073\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,7,8]]},"references-count":32,"URL":"https:\/\/doi.org\/10.23919\/acc63710.2025.11108073","relation":{},"subject":[],"published":{"date-parts":[[2025,7,8]]}}}