{"id":"https://openalex.org/W7130947713","doi":"https://doi.org/10.1007/978-981-95-7081-2_45","title":"A Quadratic Programming Framework Unifying Different Types of\u00a0Visual Servoing with\u00a0Obstacle Avoidance for\u00a0Joint-Constrained Robots","display_name":"A Quadratic Programming Framework Unifying Different Types of\u00a0Visual Servoing with\u00a0Obstacle Avoidance for\u00a0Joint-Constrained Robots","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7130947713","doi":"https://doi.org/10.1007/978-981-95-7081-2_45"},"language":"en","primary_location":{"id":"doi:10.1007/978-981-95-7081-2_45","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-981-95-7081-2_45","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"conference-paper","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/A5123416085","display_name":"Weibing Li","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weibing Li","raw_affiliation_strings":["Sun Yat-sen University, Guangzhou, 510006, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University, Guangzhou, 510006, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100325414","display_name":"Shan Zhang","orcid":"https://orcid.org/0000-0002-1530-7561"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shan Zhang","raw_affiliation_strings":["Sun Yat-sen University, Guangzhou, 510006, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University, Guangzhou, 510006, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126577388","display_name":"Zeyu Ping","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeyu Ping","raw_affiliation_strings":["Sun Yat-sen University, Guangzhou, 510006, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University, Guangzhou, 510006, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125745787","display_name":"Zhiping Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122543","display_name":"Guangdong Polytechnic Normal University","ror":"https://ror.org/02pcb5m77","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210122543"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiping Tan","raw_affiliation_strings":["Guangdong Polytechnic Normal University, Guangzhou, 510665, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Polytechnic Normal University, Guangzhou, 510665, China","institution_ids":["https://openalex.org/I4210122543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126576502","display_name":"Mingzhi Mao","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingzhi Mao","raw_affiliation_strings":["Sun Yat-sen University, Zhuhai, 519082, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University, Zhuhai, 519082, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044830033","display_name":"Zilian Yi","orcid":"https://orcid.org/0000-0003-1376-7617"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zilian Yi","raw_affiliation_strings":["Sun Yat-sen University, Guangzhou, 510006, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University, Guangzhou, 510006, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126562486","display_name":"Wenjing Ouyang","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjing Ouyang","raw_affiliation_strings":["Sun Yat-sen University, Guangzhou, 510006, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University, Guangzhou, 510006, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":null,"display_name":"Chia-Wen Liao","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chia-Wen Liao","raw_affiliation_strings":["Sun Yat-sen University, Guangzhou, 510006, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sun Yat-sen University, Guangzhou, 510006, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5126576502"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"652","last_page":"664"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9739000201225281,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9739000201225281,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.008999999612569809,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.0017999999690800905,"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/visual-servoing","display_name":"Visual servoing","score":0.9190000295639038},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7574999928474426},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.6901000142097473},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6686999797821045},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5601999759674072},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5181000232696533},{"id":"https://openalex.org/keywords/visual-control","display_name":"Visual control","score":0.41499999165534973},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3984000086784363}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9190000295639038},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8126000165939331},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7574999928474426},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.6901000142097473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6686999797821045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.603600025177002},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5601999759674072},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5403000116348267},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5181000232696533},{"id":"https://openalex.org/C2780527621","wikidata":"https://www.wikidata.org/wiki/Q7936593","display_name":"Visual control","level":2,"score":0.41499999165534973},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3984000086784363},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3691999912261963},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.3612000048160553},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.3181000053882599},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3089999854564667},{"id":"https://openalex.org/C168820333","wikidata":"https://www.wikidata.org/wiki/Q448889","display_name":"Visual inspection","level":2,"score":0.29989999532699585},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29260000586509705},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.2808000147342682},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.27300000190734863},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.26750001311302185},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.2551000118255615}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-981-95-7081-2_45","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-981-95-7081-2_45","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1514444483","https://openalex.org/W2075929513","https://openalex.org/W2082991751","https://openalex.org/W2100249329","https://openalex.org/W2101057928","https://openalex.org/W2105582660","https://openalex.org/W2111691855","https://openalex.org/W2129086727","https://openalex.org/W2130920082","https://openalex.org/W2139996173","https://openalex.org/W2140296322","https://openalex.org/W2151674957","https://openalex.org/W2161357383","https://openalex.org/W2162429410","https://openalex.org/W2167501464","https://openalex.org/W2765705032","https://openalex.org/W2791498806","https://openalex.org/W2793504422","https://openalex.org/W2906047344","https://openalex.org/W2996469688","https://openalex.org/W3003406779","https://openalex.org/W3041032257","https://openalex.org/W4236881204","https://openalex.org/W4250589301","https://openalex.org/W4377235269","https://openalex.org/W4389665499"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-02-23T00:00:00"}