{"id":"https://openalex.org/W2886928343","doi":"https://doi.org/10.1080/23307706.2019.1709989","title":"Dual-mode dynamic window approach to robot navigation with convergence guarantees","display_name":"Dual-mode dynamic window approach to robot navigation with convergence guarantees","publication_year":2020,"publication_date":"2020-01-06","ids":{"openalex":"https://openalex.org/W2886928343","doi":"https://doi.org/10.1080/23307706.2019.1709989","mag":"2886928343"},"language":"en","primary_location":{"id":"doi:10.1080/23307706.2019.1709989","is_oa":false,"landing_page_url":"https://doi.org/10.1080/23307706.2019.1709989","pdf_url":null,"source":{"id":"https://openalex.org/S2475925340","display_name":"Journal of Control and Decision","issn_l":"2330-7706","issn":["2330-7706","2330-7714"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Control and Decision","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1808.05869","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019054528","display_name":"Greg Droge","orcid":"https://orcid.org/0000-0001-5247-8573"},"institutions":[{"id":"https://openalex.org/I121980950","display_name":"Utah State University","ror":"https://ror.org/00h6set76","country_code":"US","type":"education","lineage":["https://openalex.org/I121980950"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Greg Droge","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Utah State University, Logan, UT, USA","Department of Electrical and Computer Engineering, Utah State University Logan, UT, USA"],"raw_orcid":"https://orcid.org/0000-0001-5247-8573","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Utah State University, Logan, UT, USA","institution_ids":["https://openalex.org/I121980950"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Utah State University Logan, UT, USA","institution_ids":["https://openalex.org/I121980950"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5019054528"],"corresponding_institution_ids":["https://openalex.org/I121980950"],"apc_list":null,"apc_paid":null,"fwci":0.2885,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.52107983,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"8","issue":"2","first_page":"77","last_page":"88"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9990000128746033,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9962000250816345,"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/computer-science","display_name":"Computer science","score":0.7136785984039307},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.683826208114624},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.645433783531189},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.636001706123352},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.6078230142593384},{"id":"https://openalex.org/keywords/window","display_name":"Window (computing)","score":0.6064256429672241},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5902497172355652},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5526800155639648},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4981698989868164},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.400737464427948},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3705645501613617},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.29593604803085327},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2682826817035675},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25091296434402466},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14990034699440002},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.058595627546310425}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7136785984039307},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.683826208114624},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.645433783531189},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.636001706123352},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.6078230142593384},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.6064256429672241},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5902497172355652},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5526800155639648},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4981698989868164},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.400737464427948},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3705645501613617},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29593604803085327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2682826817035675},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25091296434402466},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14990034699440002},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.058595627546310425},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1080/23307706.2019.1709989","is_oa":false,"landing_page_url":"https://doi.org/10.1080/23307706.2019.1709989","pdf_url":null,"source":{"id":"https://openalex.org/S2475925340","display_name":"Journal of Control and Decision","issn_l":"2330-7706","issn":["2330-7706","2330-7714"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Control and Decision","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1808.05869","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1808.05869","pdf_url":"https://arxiv.org/pdf/1808.05869","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2886928343","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1808.05869","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1808.05869","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1808.05869","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1808.05869","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1808.05869","pdf_url":"https://arxiv.org/pdf/1808.05869","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2886928343.pdf","grobid_xml":"https://content.openalex.org/works/W2886928343.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W126378795","https://openalex.org/W127611773","https://openalex.org/W1424654272","https://openalex.org/W1973942504","https://openalex.org/W1978956894","https://openalex.org/W1984505032","https://openalex.org/W1988505764","https://openalex.org/W2028044548","https://openalex.org/W2037365904","https://openalex.org/W2041109651","https://openalex.org/W2059007332","https://openalex.org/W2066955564","https://openalex.org/W2070179108","https://openalex.org/W2080671898","https://openalex.org/W2096078692","https://openalex.org/W2110144538","https://openalex.org/W2117211893","https://openalex.org/W2128444740","https://openalex.org/W2131257292","https://openalex.org/W2131505299","https://openalex.org/W2133066324","https://openalex.org/W2297172695","https://openalex.org/W2611243847","https://openalex.org/W2779597407","https://openalex.org/W2899300075","https://openalex.org/W2901136733","https://openalex.org/W2961703895","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2029388906","https://openalex.org/W2809926152","https://openalex.org/W2903159662","https://openalex.org/W1584927366","https://openalex.org/W2803245620","https://openalex.org/W2604115276","https://openalex.org/W2555152630","https://openalex.org/W3213809363","https://openalex.org/W2991359187","https://openalex.org/W3120818658","https://openalex.org/W3092191482","https://openalex.org/W3210137673","https://openalex.org/W2295899921","https://openalex.org/W3100152335","https://openalex.org/W3165399594","https://openalex.org/W2602262851","https://openalex.org/W2047746192","https://openalex.org/W2806448689","https://openalex.org/W3120369233","https://openalex.org/W3157910257"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,26,60,78,96],"novel,":[4],"dual-mode":[5,27],"model":[6,28],"predictive":[7,29],"control":[8,30],"framework":[9,74],"is":[10,75],"introduced":[11],"that":[12],"combines":[13],"the":[14,38,41,45,50,84,88,93],"dynamic":[15,51,97],"window":[16,52],"approach":[17],"to":[18,44,59,82,90],"navigation":[19],"with":[20,92],"generic":[21],"path":[22,34],"planning":[23],"techniques":[24],"through":[25,65],"framework.":[31],"The":[32,73],"planned":[33],"adds":[35],"information":[36],"on":[37],"connectivity":[39],"of":[40,49,95],"free":[42],"space":[43],"obstacle":[46],"avoidance":[47],"capabilities":[48],"approach.":[53],"This":[54],"allows":[55],"for":[56],"guaranteed":[57],"convergence":[58],"goal":[61],"location":[62],"while":[63],"navigating":[64],"an":[66],"unknown":[67],"environment":[68],"at":[69],"relatively":[70],"high":[71],"speeds.":[72],"applied":[76],"in":[77],"combined":[79],"simulation/hardware":[80],"implementation":[81],"demonstrate":[83],"computational":[85],"feasibility":[86],"and":[87],"ability":[89],"cope":[91],"constraints":[94],"system.":[98]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2025-10-10T00:00:00"}
