{"id":"https://openalex.org/W3204442505","doi":"https://doi.org/10.1109/case49439.2021.9551463","title":"Motion Prediction Based on Multiple Futures for Dynamic Obstacle Avoidance of Mobile Robots","display_name":"Motion Prediction Based on Multiple Futures for Dynamic Obstacle Avoidance of Mobile Robots","publication_year":2021,"publication_date":"2021-08-23","ids":{"openalex":"https://openalex.org/W3204442505","doi":"https://doi.org/10.1109/case49439.2021.9551463","mag":"3204442505"},"language":"en","primary_location":{"id":"doi:10.1109/case49439.2021.9551463","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551463","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.chalmers.se/publication/526674/file/526674_Fulltext.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Ze Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Ze Zhang","raw_affiliation_strings":["Division of Systems and Control, Electrical Engineering, Chalmers University of Technology, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Systems and Control, Electrical Engineering, Chalmers University of Technology, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028782385","display_name":"Emmanuel Dean\u2010Leon","orcid":"https://orcid.org/0000-0002-1155-7088"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Emmanuel Dean","raw_affiliation_strings":["Division of Systems and Control, Electrical Engineering, Chalmers University of Technology, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Systems and Control, Electrical Engineering, Chalmers University of Technology, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066684950","display_name":"Yiannis Karayiannidis","orcid":"https://orcid.org/0000-0001-5129-342X"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yiannis Karayiannidis","raw_affiliation_strings":["Division of Systems and Control, Electrical Engineering, Chalmers University of Technology, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Systems and Control, Electrical Engineering, Chalmers University of Technology, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108805135","display_name":"Knut \u00c5kesson","orcid":"https://orcid.org/0000-0001-6105-2726"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Knut Akesson","raw_affiliation_strings":["Division of Systems and Control, Electrical Engineering, Chalmers University of Technology, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Systems and Control, Electrical Engineering, Chalmers University of Technology, Sweden","institution_ids":["https://openalex.org/I66862912"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I66862912"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"475","last_page":"481"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9961000084877014,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/computer-science","display_name":"Computer science","score":0.7091619372367859},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6753388047218323},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6098745465278625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5918216109275818},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5710848569869995},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5554043650627136},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5206888914108276},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5040820837020874},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.49683740735054016},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.49492186307907104},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46597859263420105},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.38957512378692627},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.32881057262420654},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21090784668922424}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7091619372367859},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6753388047218323},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6098745465278625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5918216109275818},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5710848569869995},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5554043650627136},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5206888914108276},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5040820837020874},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.49683740735054016},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.49492186307907104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46597859263420105},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.38957512378692627},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.32881057262420654},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21090784668922424},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case49439.2021.9551463","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551463","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:research.chalmers.se:526674","is_oa":true,"landing_page_url":"https://research.chalmers.se/en/publication/526674","pdf_url":"https://research.chalmers.se/publication/526674/file/526674_Fulltext.pdf","source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null}],"best_oa_location":{"id":"pmh:oai:research.chalmers.se:526674","is_oa":true,"landing_page_url":"https://research.chalmers.se/en/publication/526674","pdf_url":"https://research.chalmers.se/publication/526674/file/526674_Fulltext.pdf","source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7400000095367432}],"awards":[],"funders":[{"id":"https://openalex.org/F4320307958","display_name":"Volvo Cars of North America","ror":"https://ror.org/00mkdan60"},{"id":"https://openalex.org/F4320321523","display_name":"Chalmers Tekniska H\u00f6gskola","ror":"https://ror.org/040wg7k59"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3204442505.pdf"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1579853615","https://openalex.org/W1969472392","https://openalex.org/W1993117421","https://openalex.org/W1996118086","https://openalex.org/W2067621428","https://openalex.org/W2424778531","https://openalex.org/W2557519264","https://openalex.org/W2611972117","https://openalex.org/W2883562082","https://openalex.org/W2891058410","https://openalex.org/W2905135239","https://openalex.org/W2948479456","https://openalex.org/W2950312551","https://openalex.org/W2963888662","https://openalex.org/W2967550568","https://openalex.org/W2967846306","https://openalex.org/W2968473746","https://openalex.org/W3033920763","https://openalex.org/W3106257603","https://openalex.org/W3137344536","https://openalex.org/W4238195818","https://openalex.org/W4250413624"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W1819938260","https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2340892746","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W3005999311","https://openalex.org/W3119736302","https://openalex.org/W2794689129"],"abstract_inverted_index":{"The":[0,79,129,171],"ability":[1],"to":[2,8,23,38,85,180],"decide":[3],"and":[4,19,56,72],"adjust":[5],"actions":[6],"according":[7],"motion":[9,36,46,67,99,111,166],"prediction":[10,37,47,68,100,112,172],"of":[11,42,51,69,81,91,138,141,165],"dynamic":[12,70,142,169,182],"obstacles":[13,71,183],"offers":[14],"a":[15,31,97,103,122,152,168],"flexible":[16],"planning":[17,74],"scheme":[18],"ampler":[20],"reaction":[21],"time":[22],"avoid":[24,181],"potential":[25],"impact.":[26],"Prediction-based":[27],"collision":[28],"avoidance":[29],"implies":[30],"two-stage":[32],"decision-making":[33],"process":[34],"from":[35,113],"action":[39,73],"planning.":[40],"One":[41],"the":[43,49,134,148,159,175,178],"challenges":[44],"in":[45,89,167,184],"is":[48,84,145],"movements":[50],"objects":[52],"are":[53],"usually":[54],"non-deterministic":[55],"governed":[57],"by":[58,95,147],"multimodal":[59,135],"models.":[60],"Many":[61],"studies":[62],"have":[63],"been":[64],"made":[65],"on":[66],"for":[75],"mobile":[76],"robots":[77],"separately.":[78],"objective":[80],"this":[82],"work":[83],"explore":[86],"their":[87],"coherence":[88],"terms":[90],"multiple":[92],"future":[93,139],"predictions":[94,164],"combining":[96],"data-driven":[98],"approach":[101],"with":[102,121,177],"model-based":[104],"control":[105],"strategy.":[106],"More":[107],"specifically,":[108],"we":[109],"integrate":[110],"deep":[114,130],"learning":[115,131],"models,":[116],"Mixture":[117],"Density":[118],"Networks":[119],"(MDNs)":[120],"Non-linear":[123],"Model":[124],"Predictive":[125],"Control":[126],"(NMPC)":[127],"framework.":[128],"models":[132],"produce":[133],"probability":[136],"distribution":[137],"positions":[140],"obstacles,":[143],"which":[144],"utilized":[146],"MPC":[149],"controller":[150,176],"as":[151],"constraint.":[153],"We":[154],"show":[155],"via":[156],"simulation":[157],"that":[158],"selected":[160],"model":[161],"provides":[162],"valid":[163],"environment.":[170],"result":[173],"endows":[174],"capability":[179],"advance.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}