{"id":"https://openalex.org/W2146046255","doi":"https://doi.org/10.1109/acc.2014.6858947","title":"Path tracking with obstacle avoidance for pseudo-omnidirectional mobile robots using convex optimization","display_name":"Path tracking with obstacle avoidance for pseudo-omnidirectional mobile robots using convex optimization","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W2146046255","doi":"https://doi.org/10.1109/acc.2014.6858947","mag":"2146046255"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2014.6858947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2014.6858947","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 American Control Conference","raw_type":"proceedings-article"},"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/A5090118616","display_name":"Karl Berntorp","orcid":"https://orcid.org/0000-0002-6809-6657"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]},{"id":"https://openalex.org/I223464139","display_name":"Linnaeus University","ror":"https://ror.org/00j9qag85","country_code":"SE","type":"education","lineage":["https://openalex.org/I223464139"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Karl Berntorp","raw_affiliation_strings":["Lunds Universitet, Lund, SE","LCCC Linnaeus Center, Lund Univ., Lund, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lunds Universitet, Lund, SE","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"LCCC Linnaeus Center, Lund Univ., Lund, Sweden","institution_ids":["https://openalex.org/I187531555","https://openalex.org/I223464139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056496417","display_name":"Bj\u00f6rn Olofsson","orcid":"https://orcid.org/0000-0003-1320-032X"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]},{"id":"https://openalex.org/I223464139","display_name":"Linnaeus University","ror":"https://ror.org/00j9qag85","country_code":"SE","type":"education","lineage":["https://openalex.org/I223464139"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Bjorn Olofsson","raw_affiliation_strings":["Lunds Universitet, Lund, SE","LCCC Linnaeus Center, Lund Univ., Lund, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lunds Universitet, Lund, SE","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"LCCC Linnaeus Center, Lund Univ., Lund, Sweden","institution_ids":["https://openalex.org/I187531555","https://openalex.org/I223464139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013736282","display_name":"Anders Robertsson","orcid":"https://orcid.org/0000-0003-1063-4771"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]},{"id":"https://openalex.org/I223464139","display_name":"Linnaeus University","ror":"https://ror.org/00j9qag85","country_code":"SE","type":"education","lineage":["https://openalex.org/I223464139"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Anders Robertsson","raw_affiliation_strings":["Lunds Universitet, Lund, SE","LCCC Linnaeus Center, Lund Univ., Lund, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lunds Universitet, Lund, SE","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"LCCC Linnaeus Center, Lund Univ., Lund, Sweden","institution_ids":["https://openalex.org/I187531555","https://openalex.org/I223464139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"517","last_page":"524"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6858391165733337},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.638411819934845},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6233094930648804},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6171345710754395},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5506163239479065},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.531181812286377},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5145816206932068},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5053547024726868},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48518994450569153},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4809271991252899},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.45187848806381226},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4488365054130554},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.38003426790237427},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33151379227638245},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2725258469581604},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24569359421730042},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07728967070579529}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6858391165733337},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.638411819934845},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6233094930648804},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6171345710754395},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5506163239479065},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.531181812286377},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5145816206932068},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5053547024726868},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48518994450569153},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4809271991252899},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.45187848806381226},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4488365054130554},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.38003426790237427},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33151379227638245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2725258469581604},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24569359421730042},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07728967070579529},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2014.6858947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2014.6858947","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1509235676","https://openalex.org/W1630506327","https://openalex.org/W1970412155","https://openalex.org/W1981745143","https://openalex.org/W1989368024","https://openalex.org/W2019954549","https://openalex.org/W2043306880","https://openalex.org/W2091197916","https://openalex.org/W2099454002","https://openalex.org/W2100156191","https://openalex.org/W2114897272","https://openalex.org/W2115091574","https://openalex.org/W2117211893","https://openalex.org/W2127272592","https://openalex.org/W2142141387","https://openalex.org/W2143804149","https://openalex.org/W2149334481","https://openalex.org/W2152536965","https://openalex.org/W2155612543","https://openalex.org/W2156142530","https://openalex.org/W2168166999","https://openalex.org/W2296319761","https://openalex.org/W2611243847","https://openalex.org/W2874800706","https://openalex.org/W3194884241","https://openalex.org/W4250589301","https://openalex.org/W6661309972","https://openalex.org/W6681478346","https://openalex.org/W6684835214"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W4380590094"],"abstract_inverted_index":{"We":[0],"consider":[1],"time-optimal":[2,45,82],"path":[3,70,76,89],"tracking":[4,85],"for":[5,84],"the":[6,16,32,40,68,80,87,95,114],"class":[7],"of":[8,15,31,44,55,86,94],"pseudo-omnidirectional":[9],"mobile":[10],"robots.":[11],"An":[12],"Euler-Lagrange":[13],"model":[14,101],"robot":[17],"dynamics":[18],"is":[19,77,90],"derived,":[20],"and":[21,42,79,97,105],"by":[22,116],"writing":[23],"it":[24],"on":[25,119],"special":[26],"form":[27],"a":[28,61,74,120],"convex":[29],"reformulation":[30],"path-tracking":[33],"problem":[34],"can":[35],"be":[36],"utilized.":[37],"This":[38],"enables":[39],"use":[41],"regeneration":[43],"trajectories":[46],"during":[47],"runtime.":[48],"The":[49,92],"proposed":[50],"approach":[51,115],"also":[52],"incorporates":[53],"avoidance":[54],"moving":[56],"obstacles,":[57],"which":[58],"are":[59,71,103],"unknown":[60],"priori.":[62],"Using":[63],"sensor":[64],"data,":[65],"objects":[66],"along":[67],"desired":[69],"detected.":[72],"Subsequently,":[73],"new":[75],"planned":[78],"corresponding":[81],"trajectory":[83],"generated":[88],"found.":[91],"robustness":[93],"method":[96],"its":[98],"sensitivity":[99],"to":[100],"errors":[102],"analyzed":[104],"discussed":[106],"with":[107],"extensive":[108],"simulation":[109],"results.":[110],"Moreover,":[111],"we":[112],"verify":[113],"successful":[117],"execution":[118],"physical":[121],"setup.":[122]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
