{"id":"https://openalex.org/W4294298912","doi":"https://doi.org/10.1007/s10846-022-01687-0","title":"Real-Time and Efficient Collision Avoidance Planning Approach for Safe Human-Robot Interaction","display_name":"Real-Time and Efficient Collision Avoidance Planning Approach for Safe Human-Robot Interaction","publication_year":2022,"publication_date":"2022-08-01","ids":{"openalex":"https://openalex.org/W4294298912","doi":"https://doi.org/10.1007/s10846-022-01687-0"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-022-01687-0","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-022-01687-0","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","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/A5053233680","display_name":"Hongyan Liu","orcid":"https://orcid.org/0000-0002-4780-559X"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongyan Liu","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 110169, Shenyang, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110169, Shenyang, China","University of Chinese Academy of Sciences, Beijing, 100049, China"],"raw_orcid":"https://orcid.org/0000-0002-4780-559X","affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 110169, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110169, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112460364","display_name":"Daokui Qu","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daokui Qu","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 110169, Shenyang, China","SIASUN Robot & Automation CO.,Ltd, Shenyang, 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110169, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 110169, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"SIASUN Robot & Automation CO.,Ltd, Shenyang, 110169, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110169, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043885681","display_name":"Fang Xu","orcid":"https://orcid.org/0009-0002-9597-917X"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Xu","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 110169, Shenyang, China","SIASUN Robot & Automation CO.,Ltd, Shenyang, 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110169, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 110169, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"SIASUN Robot & Automation CO.,Ltd, Shenyang, 110169, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110169, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113662207","display_name":"Zhenjun Du","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhenjun Du","raw_affiliation_strings":["SIASUN Robot & Automation CO.,Ltd, Shenyang, 110169, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SIASUN Robot & Automation CO.,Ltd, Shenyang, 110169, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101648153","display_name":"Kai Jia","orcid":"https://orcid.org/0000-0001-8215-9899"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Jia","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 110169, Shenyang, China","SIASUN Robot & Automation CO.,Ltd, Shenyang, 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110169, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 110169, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"SIASUN Robot & Automation CO.,Ltd, Shenyang, 110169, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110169, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110418450","display_name":"Jilai Song","orcid":"https://orcid.org/0009-0009-4069-7897"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jilai Song","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 110169, Shenyang, China","SIASUN Robot & Automation CO.,Ltd, Shenyang, 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110169, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, 110169, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"SIASUN Robot & Automation CO.,Ltd, Shenyang, 110169, China","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110169, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017613188","display_name":"Mingmin Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mingmin Liu","raw_affiliation_strings":["SIASUN Robot & Automation CO.,Ltd, Shenyang, 110169, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SIASUN Robot & Automation CO.,Ltd, Shenyang, 110169, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5053233680"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4210165038"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":3.0445,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.92791347,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"105","issue":"4","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/collision-avoidance","display_name":"Collision avoidance","score":0.8534677624702454},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6708313226699829},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.644537627696991},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6023784279823303},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.587235689163208},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5585049986839294},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5557848811149597},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5241366028785706},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5002036094665527},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49203893542289734},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4142153561115265},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3729029893875122},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3437092900276184},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29456761479377747},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25497156381607056},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2449072301387787},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16846272349357605},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11550161242485046}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8534677624702454},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6708313226699829},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.644537627696991},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6023784279823303},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.587235689163208},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5585049986839294},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5557848811149597},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5241366028785706},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5002036094665527},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49203893542289734},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4142153561115265},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3729029893875122},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3437092900276184},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29456761479377747},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25497156381607056},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2449072301387787},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16846272349357605},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11550161242485046},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-022-01687-0","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-022-01687-0","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7300000190734863,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W30666801","https://openalex.org/W1971086298","https://openalex.org/W1982153978","https://openalex.org/W1987690877","https://openalex.org/W2019965290","https://openalex.org/W2039438648","https://openalex.org/W2040329973","https://openalex.org/W2047448918","https://openalex.org/W2090482009","https://openalex.org/W2094537981","https://openalex.org/W2114123573","https://openalex.org/W2116113712","https://openalex.org/W2117571644","https://openalex.org/W2141664020","https://openalex.org/W2152864241","https://openalex.org/W2161819990","https://openalex.org/W2177274602","https://openalex.org/W2293883387","https://openalex.org/W2318055712","https://openalex.org/W2335799662","https://openalex.org/W2415165331","https://openalex.org/W2553909983","https://openalex.org/W2559197944","https://openalex.org/W2560665049","https://openalex.org/W2567354352","https://openalex.org/W2604698059","https://openalex.org/W2664907401","https://openalex.org/W2736887377","https://openalex.org/W2762248135","https://openalex.org/W2763941082","https://openalex.org/W2765218414","https://openalex.org/W2783126484","https://openalex.org/W2892094733","https://openalex.org/W2892124085","https://openalex.org/W2906446932","https://openalex.org/W2963105220","https://openalex.org/W2972941110","https://openalex.org/W3003804651","https://openalex.org/W3004227484","https://openalex.org/W3035320224","https://openalex.org/W3098223015","https://openalex.org/W3099578266","https://openalex.org/W3102334304","https://openalex.org/W3129933761","https://openalex.org/W3133064118","https://openalex.org/W3159537771","https://openalex.org/W3205275030","https://openalex.org/W3205751265","https://openalex.org/W3209559156"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2050548713","https://openalex.org/W4380590094","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W3119736302","https://openalex.org/W4381746183","https://openalex.org/W3200041777","https://openalex.org/W2794689129","https://openalex.org/W2785353696"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":12}],"updated_date":"2026-05-28T09:10:13.091523","created_date":"2025-10-10T00:00:00"}