{"id":"https://openalex.org/W4387143519","doi":"https://doi.org/10.1109/case56687.2023.10260592","title":"OC3: A Reactive Velocity Level Motion Planner with Complementarity Constraint-based Obstacle Avoidance for Mobile Robots","display_name":"OC3: A Reactive Velocity Level Motion Planner with Complementarity Constraint-based Obstacle Avoidance for Mobile Robots","publication_year":2023,"publication_date":"2023-08-26","ids":{"openalex":"https://openalex.org/W4387143519","doi":"https://doi.org/10.1109/case56687.2023.10260592"},"language":"en","primary_location":{"id":"doi:10.1109/case56687.2023.10260592","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case56687.2023.10260592","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","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/A5053236926","display_name":"Anirban Sinha","orcid":"https://orcid.org/0000-0002-7122-3549"},"institutions":[{"id":"https://openalex.org/I1332737386","display_name":"General Electric (United States)","ror":"https://ror.org/013msgt25","country_code":"US","type":"company","lineage":["https://openalex.org/I1332737386"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Anirban Sinha","raw_affiliation_strings":["The Robotics And Autonomous Systems Lab at General Electric Research,NY,USA","The Robotics And Autonomous Systems Lab at General Electric Research, NY, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics And Autonomous Systems Lab at General Electric Research,NY,USA","institution_ids":["https://openalex.org/I1332737386"]},{"raw_affiliation_string":"The Robotics And Autonomous Systems Lab at General Electric Research, NY, USA","institution_ids":["https://openalex.org/I1332737386"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078684534","display_name":"Riddhiman Laha","orcid":"https://orcid.org/0000-0001-8527-0445"},"institutions":[{"id":"https://openalex.org/I283854653","display_name":"Machine Intelligence Research Institute","ror":"https://ror.org/01h4ass90","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I283854653"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Riddhiman Laha","raw_affiliation_strings":["The Munich Institute of Robotics and Machine Intelligence,TUM,Germany","The Munich Institute of Robotics and Machine Intelligence, TUM, Germany"],"affiliations":[{"raw_affiliation_string":"The Munich Institute of Robotics and Machine Intelligence,TUM,Germany","institution_ids":["https://openalex.org/I283854653"]},{"raw_affiliation_string":"The Munich Institute of Robotics and Machine Intelligence, TUM, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101455544","display_name":"Nilanjan Chakraborty","orcid":"https://orcid.org/0000-0003-0574-3041"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nilanjan Chakraborty","raw_affiliation_strings":["Stony Brook University,The Mechanical Engineering Department,NY,USA","The Mechanical Engineering Department, Stony Brook University, NY, USA"],"affiliations":[{"raw_affiliation_string":"Stony Brook University,The Mechanical Engineering Department,NY,USA","institution_ids":["https://openalex.org/I59553526"]},{"raw_affiliation_string":"The Mechanical Engineering Department, Stony Brook University, NY, USA","institution_ids":["https://openalex.org/I59553526"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5053236926"],"corresponding_institution_ids":["https://openalex.org/I1332737386"],"apc_list":null,"apc_paid":null,"fwci":0.6149,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.69925639,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9969000220298767,"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/T12158","display_name":"Guidance and Control Systems","score":0.9884999990463257,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7052910923957825},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6251125335693359},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5949417948722839},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.547407865524292},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5349783897399902},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4887583255767822},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.48846641182899475},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4691753685474396},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4592239260673523},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42021989822387695},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37545353174209595},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3085211515426636},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22418484091758728},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.18343570828437805}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7052910923957825},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6251125335693359},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5949417948722839},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.547407865524292},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5349783897399902},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4887583255767822},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.48846641182899475},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4691753685474396},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4592239260673523},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42021989822387695},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37545353174209595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3085211515426636},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22418484091758728},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.18343570828437805},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case56687.2023.10260592","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case56687.2023.10260592","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W584634945","https://openalex.org/W833367230","https://openalex.org/W980388479","https://openalex.org/W1424654272","https://openalex.org/W1543439990","https://openalex.org/W1561445488","https://openalex.org/W1586102543","https://openalex.org/W1904799423","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1978301848","https://openalex.org/W1995408953","https://openalex.org/W1996183429","https://openalex.org/W2000359213","https://openalex.org/W2001024683","https://openalex.org/W2007032806","https://openalex.org/W2047405440","https://openalex.org/W2078552451","https://openalex.org/W2080813827","https://openalex.org/W2089322635","https://openalex.org/W2095981630","https://openalex.org/W2110144538","https://openalex.org/W2112271657","https://openalex.org/W2116364955","https://openalex.org/W2117211893","https://openalex.org/W2128990851","https://openalex.org/W2129124930","https://openalex.org/W2131257292","https://openalex.org/W2131505299","https://openalex.org/W2137448073","https://openalex.org/W2141664020","https://openalex.org/W2143149810","https://openalex.org/W2146556896","https://openalex.org/W2158334497","https://openalex.org/W2163943109","https://openalex.org/W2177274602","https://openalex.org/W2313752765","https://openalex.org/W2465929524","https://openalex.org/W2479748687","https://openalex.org/W2984677241","https://openalex.org/W3102121895","https://openalex.org/W3205111566","https://openalex.org/W3211224021","https://openalex.org/W3213247303","https://openalex.org/W4200488070","https://openalex.org/W4399469378","https://openalex.org/W6623564956","https://openalex.org/W6679199848","https://openalex.org/W6681698315"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2050548713","https://openalex.org/W4380590094","https://openalex.org/W2140606111","https://openalex.org/W4388726836","https://openalex.org/W2991662304","https://openalex.org/W2154722715","https://openalex.org/W3119736302","https://openalex.org/W4381746183","https://openalex.org/W2015961810"],"abstract_inverted_index":{"This":[0,118],"paper":[1],"presents":[2],"a":[3,81,86,107,115,131,170],"novel":[4],"real-time":[5,220],"motion":[6],"planning":[7,179],"method":[8],"for":[9,93,126,158],"differential":[10,30,51],"drive":[11],"mobile":[12,20],"robots.":[13],"Reactive":[14],"planners,":[15],"in":[16,173,205],"the":[17,41,50,65,91,102,127,135,147,159,183,199,206,214],"context":[18],"of":[19,53,90,123,134,176,208,216],"robots,":[21],"are":[22],"usually":[23],"vulnerable":[24],"to":[25,64,70,145,181],"challenges":[26],"like":[27,73],"local":[28,66,171,184],"minima,":[29],"constraint":[31],"satisfaction,":[32],"and":[33,60,113,194,210],"dynamic":[34,58,211],"obstacles.":[35],"To":[36],"this":[37],"end,":[38],"we":[39],"present":[40],"Off-Center":[42],"point":[43,89,137],"Complementarity":[44],"Constraint":[45],"(OC3)":[46],"planner,":[47],"which":[48],"respects":[49],"constraints":[52],"robot":[54,92,128],"kinematics,":[55],"can":[56,166],"handle":[57],"obstacles,":[59,212],"is":[61,138,143],"more":[62],"robust":[63],"minima":[67],"problem":[68,105,109],"compared":[69],"traditional":[71],"methods":[72],"artificial":[74],"potential":[75],"fields.":[76],"Our":[77,187],"OC3":[78,165],"planner":[79,172],"utilizes":[80],"virtual":[82],"contact":[83],"mechanism":[84],"at":[85],"distal":[87],"off-center":[88,136],"obstacle":[94,103],"avoidance,":[95],"thereby":[96],"ensuring":[97],"smooth":[98],"maneuvers.":[99],"We":[100,161],"formulate":[101],"avoidance":[104],"as":[106,169],"feasibility":[108],"with":[110],"complementarity":[111],"constraints,":[112],"derive":[114],"closed-form":[116],"solution.":[117],"enables":[119],"fast":[120],"online":[121],"computation":[122],"collision-free":[124,132],"waypoints":[125],"off-center.":[129],"Once":[130],"state":[133],"found,":[139],"inverse":[140],"velocity":[141],"kinematics":[142],"used":[144,168],"compute":[146],"reference":[148],"control":[149],"input":[150],"velocities":[151],"(\u2208":[152],"\u211d":[153],"<sup":[154],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[155],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[156],")":[157],"robot.":[160],"further":[162],"show":[163],"that":[164],"be":[167],"RRT":[174],"type":[175],"sampling-based":[177],"global":[178],"framework":[180,218],"avoid":[182],"minimum":[185],"problem.":[186],"extensive":[188],"analysis":[189],"through":[190],"various":[191],"case":[192],"studies":[193],"rigorous":[195],"simulation":[196],"experiments,":[197],"using":[198],"popular":[200],"ROS":[201],"based":[202],"Turtlebot3":[203],"simulator,":[204],"presence":[207],"static":[209],"demonstrate":[213],"efficacy":[215],"our":[217],"including":[219],"proficiency.":[221]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
