{"id":"https://openalex.org/W7204144143","doi":"https://doi.org/10.1177/00375497261480361","title":"HybridDWAVO: Finite-horizon velocity-obstacle filtering within the dynamic window approach for dynamic obstacle avoidance","display_name":"HybridDWAVO: Finite-horizon velocity-obstacle filtering within the dynamic window approach for dynamic obstacle avoidance","publication_year":2026,"publication_date":"2026-08-23","ids":{"openalex":"https://openalex.org/W7204144143","doi":"https://doi.org/10.1177/00375497261480361"},"language":"en","primary_location":{"id":"doi:10.1177/00375497261480361","doi":"https://doi.org/10.1177/00375497261480361","is_oa":false,"landing_page_url":"https://doi.org/10.1177/00375497261480361","pdf_url":null,"source":{"id":"https://openalex.org/S32573412","display_name":"SIMULATION","issn_l":"0037-5497","issn":["0037-5497","1741-3133"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIMULATION","raw_type":"journal-article"},"parent_works":[],"lineage":["https://openalex.org/W7204144143"],"child_works_count":0,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112444601","display_name":"Bongsu Hahn","orcid":"https://orcid.org/0009-0005-3988-0310","observed_orcids":["https://orcid.org/0009-0005-3988-0310"]},"institutions":[{"id":"https://openalex.org/I94588446","display_name":"Hongik University","ror":"https://ror.org/00egdv862","country_code":"KR","type":"education","lineage":["https://openalex.org/I94588446"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Bongsu Hahn","raw_affiliation_strings":["Department of Mechanical and Design Engineering, Hongik University, Sejong, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0005-3988-0310","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Design Engineering, Hongik University, Sejong, Republic of Korea","institution_ids":["https://openalex.org/I94588446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5112444601"],"corresponding_institution_ids":["https://openalex.org/I94588446"],"apc_list":{"value":4150,"currency":"USD","value_usd":4150},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"102","issue":"10","first_page":"687","last_page":"705"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/dynamic-window-approach","display_name":"dynamic window approach","score":0.8730000257492065},{"id":"https://openalex.org/keywords/dynamic-obstacle-avoidance","display_name":"dynamic obstacle avoidance","score":0.9599999785423279},{"id":"https://openalex.org/keywords/trajectory-generation","display_name":"trajectory generation","score":0.6200000047683716},{"id":"https://openalex.org/keywords/local-planning","display_name":"local planning","score":0.5669999718666077},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"collision avoidance","score":0.8569999933242798},{"id":"https://openalex.org/keywords/nonholonomic-constraints","display_name":"nonholonomic constraints","score":0.7360000014305115},{"id":"https://openalex.org/keywords/obstacle-density","display_name":"obstacle density","score":0.41999998688697815},{"id":"https://openalex.org/keywords/robot-navigation","display_name":"robot navigation","score":0.5460000038146973}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6815000176429749},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6743000149726868},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6646999716758728},{"id":"https://openalex.org/C102392041","wikidata":"https://www.wikidata.org/wiki/Q592860","display_name":"Sliding window protocol","level":3,"score":0.5827000141143799},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.5720999836921692},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5227000117301941},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4684999883174896},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4562000036239624},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4059000015258789},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3799999952316284},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36059999465942383},{"id":"https://openalex.org/C149808339","wikidata":"https://www.wikidata.org/wiki/Q5319019","display_name":"Dynamic simulation","level":2,"score":0.35040000081062317},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33899998664855957},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.32199999690055847},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3206000030040741},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.31790000200271606},{"id":"https://openalex.org/C140101238","wikidata":"https://www.wikidata.org/wiki/Q1404885","display_name":"Window function","level":3,"score":0.3127000033855438},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.3100000023841858},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.29269999265670776},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.2816999852657318},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.27140000462532043},{"id":"https://openalex.org/C56498450","wikidata":"https://www.wikidata.org/wiki/Q1376323","display_name":"Relative velocity","level":2,"score":0.2639000117778778},{"id":"https://openalex.org/C174839445","wikidata":"https://www.wikidata.org/wiki/Q1134386","display_name":"Lock (firearm)","level":2,"score":0.2590000033378601},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.2556999921798706},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2540000081062317},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.25369998812675476},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.25099998712539673},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/00375497261480361","doi":"https://doi.org/10.1177/00375497261480361","is_oa":false,"landing_page_url":"https://doi.org/10.1177/00375497261480361","pdf_url":null,"source":{"id":"https://openalex.org/S32573412","display_name":"SIMULATION","issn_l":"0037-5497","issn":["0037-5497","1741-3133"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-2"],"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIMULATION","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320327819","display_name":"Ministry of SMEs and Startups","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1996101740","https://openalex.org/W2002440441","https://openalex.org/W2083513815","https://openalex.org/W2112278911","https://openalex.org/W2117211893","https://openalex.org/W2125409550","https://openalex.org/W2177274602","https://openalex.org/W2296693324","https://openalex.org/W2894064231","https://openalex.org/W2967846306","https://openalex.org/W4220840735","https://openalex.org/W4229066299","https://openalex.org/W4292322538","https://openalex.org/W4308731068","https://openalex.org/W4382877619","https://openalex.org/W4401835755","https://openalex.org/W4405574717","https://openalex.org/W4406467282","https://openalex.org/W4407381870","https://openalex.org/W4408047628","https://openalex.org/W4410887142","https://openalex.org/W4411403894","https://openalex.org/W4411499432"],"related_works":["https://openalex.org/W7155602960","https://openalex.org/W2919689601","https://openalex.org/W4313034793","https://openalex.org/W7044248392","https://openalex.org/W4410835175","https://openalex.org/W4412030120","https://openalex.org/W4312461608","https://openalex.org/W3203743390","https://openalex.org/W7097697831","https://openalex.org/W4390394171"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"HybridDWAVO,":[3],"a":[4,38,51,108],"deterministic":[5,89],"local-planning":[6],"framework":[7,31,82],"that":[8,155,188],"combines":[9,135],"the":[10,15,20,25,44,65,75,111,156,176,182,197,213,216,223,230,237],"dynamics-aware":[11],"trajectory":[12,62,194],"generation":[13],"of":[14,24,199],"dynamic":[16,45,59,66,90,172,202,239],"window":[17,46,60,67,91,173,203,240],"approach":[18,61,68,174,204],"with":[19],"predictive":[21],"collision-avoidance":[22],"capability":[23],"velocity":[26,34,48,77,131,159,190],"obstacle":[27,35,99,191,242],"method.":[28],"The":[29,81,133,151],"proposed":[30,157,238],"uses":[32],"finite-horizon":[33],"filtering":[36,192],"as":[37,117],"pre-evaluation":[39,158],"feasibility":[40],"step":[41],"applied":[42],"to":[43,170],"approach\u2013admissible":[47],"set.":[49],"As":[50],"result,":[52],"predictively":[53],"unsafe":[54],"candidates":[55,200],"are":[56,220],"removed":[57],"before":[58,193],"scoring,":[63],"and":[64,103,124,129,143,146,165,184,226,249,257],"objective":[69],"function":[70],"is":[71,83],"evaluated":[72,84],"only":[73],"over":[74],"remaining":[76],"obstacle\u2013filtered":[78],"safe":[79],"candidates.":[80],"in":[85],"controlled":[86],"simulations":[87],"using":[88],"approach\u2013based":[92],"planner":[93],"variants":[94],"under":[95,175,252],"matched":[96],"parameter":[97],"settings,":[98],"trajectories,":[100],"random":[101],"seeds,":[102],"computational":[104],"environment.":[105,228],"To":[106],"support":[107],"simulation-based":[109,233],"assessment,":[110],"evaluation":[112,206],"includes":[113],"implementation-relevant":[114],"factors":[115],"such":[116],"robot-state":[118],"estimation":[119],"noise,":[120],"obstacle-perception":[121],"uncertainty,":[122],"sensing":[123],"control":[125],"latency,":[126],"bounded":[127],"actuation,":[128,255],"nonholonomic":[130],"constraints.":[132],"analysis":[134],"repeated-trial":[136,152],"ablation":[137,183],"results,":[138],"obstacle-density-dependent":[139],"navigation":[140,210],"outcomes,":[141],"runtime":[142,218],"candidate-processing":[144,185],"metrics,":[145],"representative":[147],"trajectory-level":[148],"case":[149],"studies.":[150],"results":[153,186,219,231],"indicate":[154],"obstacle\u2013filtering":[160],"variant":[161],"improves":[162],"goal-completion":[163],"consistency":[164],"reduces":[166,196],"collision":[167],"counts":[168],"relative":[169],"conventional":[171],"tested":[177,214],"dynamic-obstacle":[178],"conditions.":[179],"In":[180],"addition,":[181],"suggest":[187],"placing":[189],"scoring":[195],"number":[198],"entering":[201],"objective-function":[205],"while":[207,245],"maintaining":[208],"favorable":[209],"outcomes":[211],"among":[212],"variants;":[215],"associated":[217],"interpreted":[221],"within":[222],"specified":[224],"simulation":[225],"workstation":[227],"Overall,":[229],"provide":[232],"algorithmic":[234],"evidence":[235],"for":[236],"approach\u2013velocity":[241],"integration":[243],"structure,":[244],"physical":[246],"robot":[247],"validation":[248],"broader":[250],"benchmarking":[251],"real":[253],"sensing,":[254],"communication,":[256],"environmental":[258],"conditions":[259],"remain":[260],"necessary":[261],"future":[262],"work.":[263]},"counts_by_year":[],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2026-08-25T00:00:00"}