{"id":"https://openalex.org/W2067262934","doi":"https://doi.org/10.1109/acc.2010.5531010","title":"Vision-based avoidance of obstacles with unknown constant velocity","display_name":"Vision-based avoidance of obstacles with unknown constant velocity","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2067262934","doi":"https://doi.org/10.1109/acc.2010.5531010","mag":"2067262934"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2010.5531010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5531010","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-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/A5101105149","display_name":"Lili Ma","orcid":"https://orcid.org/0000-0003-2892-7257"},"institutions":[{"id":"https://openalex.org/I198034347","display_name":"Wentworth Institute of Technology","ror":"https://ror.org/03tqeft14","country_code":"US","type":"education","lineage":["https://openalex.org/I198034347"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Lili Ma","raw_affiliation_strings":["Department of Electronics and Mechanical, Wentworth Institute of Technology, Boston, MA, USA","Dept. of Electronics and Mechanical, Wentworth Institute of Technology, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Mechanical, Wentworth Institute of Technology, Boston, MA, USA","institution_ids":["https://openalex.org/I198034347"]},{"raw_affiliation_string":"Dept. of Electronics and Mechanical, Wentworth Institute of Technology, Boston, MA, USA","institution_ids":["https://openalex.org/I198034347"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5101105149"],"corresponding_institution_ids":["https://openalex.org/I198034347"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14658103,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5550","last_page":"5555"},"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/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":1.0,"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":0.9998000264167786,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7162275314331055},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6411601901054382},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6306831240653992},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.610988974571228},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6098498106002808},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5989412069320679},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.5834305286407471},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5739883780479431},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.5614644289016724},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5521076917648315},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5366339683532715},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5172151327133179},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.47711947560310364},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4729863405227661},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.44267603754997253},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24762657284736633},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16139638423919678},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10464483499526978},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.09384360909461975}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7162275314331055},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6411601901054382},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6306831240653992},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.610988974571228},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6098498106002808},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5989412069320679},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.5834305286407471},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5739883780479431},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.5614644289016724},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5521076917648315},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5366339683532715},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5172151327133179},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.47711947560310364},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4729863405227661},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.44267603754997253},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24762657284736633},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16139638423919678},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10464483499526978},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.09384360909461975},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2010.5531010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5531010","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1991655747","https://openalex.org/W2002440441","https://openalex.org/W2015662206","https://openalex.org/W2016087024","https://openalex.org/W2064933349","https://openalex.org/W2085978098","https://openalex.org/W2095610532","https://openalex.org/W2096078692","https://openalex.org/W2107145440","https://openalex.org/W2117211893","https://openalex.org/W2118727930","https://openalex.org/W2119321730","https://openalex.org/W2120794503","https://openalex.org/W2126626010","https://openalex.org/W2140296322","https://openalex.org/W2143017962","https://openalex.org/W2150839555","https://openalex.org/W2153911895","https://openalex.org/W2156142530","https://openalex.org/W2171331791","https://openalex.org/W2544365156"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2975575631","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"vision-based":[3],"avoidance":[4],"of":[5,30,63,81],"obstacles":[6],"with":[7,22],"unknown":[8,11,66,69],"sizes":[9,67],"and":[10,34,36,52,68],"constant":[12],"velocities":[13,70],"for":[14,49],"four-wheel":[15],"nonholonomic":[16],"robots.":[17],"The":[18,79],"robot":[19],"is":[20,47,57,85],"equipped":[21],"an":[23],"inertial":[24],"measurement":[25],"unit":[26],"that":[27,40,71],"provides":[28],"measurements":[29],"the":[31,42,61,64,75,82],"robot's":[32],"position":[33],"velocity,":[35],"a":[37],"monocular":[38],"camera":[39],"detects":[41],"obstacles.":[43],"An":[44],"analytical":[45],"scheme":[46],"adopted":[48],"trajectory":[50,76],"generation":[51,77],"vehicle":[53],"control.":[54],"Vision":[55],"sensor":[56],"used":[58,73],"to":[59],"obtain":[60],"estimates":[62],"obstacles'":[65],"are":[72],"by":[74,87],"scheme.":[78],"effectiveness":[80],"proposed":[83],"technique":[84],"demonstrated":[86],"numerical":[88],"simulation":[89],"examples.":[90]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
