{"id":"https://openalex.org/W1961467346","doi":"https://doi.org/10.1109/cca.2015.7320685","title":"C-ABT: A continuous control layer for inter-agent collision avoidance based on asynchronous backtracking","display_name":"C-ABT: A continuous control layer for inter-agent collision avoidance based on asynchronous backtracking","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W1961467346","doi":"https://doi.org/10.1109/cca.2015.7320685","mag":"1961467346"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2015.7320685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2015.7320685","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Conference on Control Applications (CCA)","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/A5101033048","display_name":"Joachim M\u00fcller","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joachim Muller","raw_affiliation_strings":["Institute of Communications and Navigation of the German Aerospace Center (DLR), M\u00fcnchner Str. 20, 82234 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation of the German Aerospace Center (DLR), M\u00fcnchner Str. 20, 82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074067276","display_name":"Alberto Viseras Ruiz","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alberto Viseras Ruiz","raw_affiliation_strings":["Institute of Communications and Navigation of the German Aerospace Center (DLR), M\u00fcnchner Str. 20, 82234 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation of the German Aerospace Center (DLR), M\u00fcnchner Str. 20, 82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001359590","display_name":"Christoph Manss","orcid":"https://orcid.org/0000-0003-4851-2622"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Manss","raw_affiliation_strings":["Institute of Communications and Navigation of the German Aerospace Center (DLR), M\u00fcnchner Str. 20, 82234 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation of the German Aerospace Center (DLR), M\u00fcnchner Str. 20, 82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018138101","display_name":"Thomas Wiedemann","orcid":"https://orcid.org/0000-0002-1740-8841"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Wiedemann","raw_affiliation_strings":["Institute of Communications and Navigation of the German Aerospace Center (DLR), M\u00fcnchner Str. 20, 82234 Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Communications and Navigation of the German Aerospace Center (DLR), M\u00fcnchner Str. 20, 82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"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":"539","last_page":"544"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9983999729156494,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"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/waypoint","display_name":"Waypoint","score":0.91441810131073},{"id":"https://openalex.org/keywords/backtracking","display_name":"Backtracking","score":0.8850146532058716},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.815830647945404},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.7973508238792419},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6746268272399902},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5026304721832275},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.492033451795578},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.41917353868484497},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.346401572227478},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.25975945591926575},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.252469003200531},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2505737841129303},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.10520350933074951}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.91441810131073},{"id":"https://openalex.org/C156884757","wikidata":"https://www.wikidata.org/wiki/Q798554","display_name":"Backtracking","level":2,"score":0.8850146532058716},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.815830647945404},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.7973508238792419},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6746268272399902},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5026304721832275},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.492033451795578},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.41917353868484497},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.346401572227478},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25975945591926575},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.252469003200531},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2505737841129303},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.10520350933074951},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cca.2015.7320685","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2015.7320685","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE Conference on Control Applications (CCA)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:97501","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1528676759","https://openalex.org/W1994654006","https://openalex.org/W2000531666","https://openalex.org/W2012807278","https://openalex.org/W2064155562","https://openalex.org/W2069128632","https://openalex.org/W2112510830","https://openalex.org/W2138286408","https://openalex.org/W2158896662","https://openalex.org/W2160458341","https://openalex.org/W2188071763","https://openalex.org/W4252284432","https://openalex.org/W6687082284"],"related_works":["https://openalex.org/W2688471429","https://openalex.org/W4360939124","https://openalex.org/W2077345734","https://openalex.org/W2899287767","https://openalex.org/W2275928629","https://openalex.org/W2164262661","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"When":[0],"using":[1,33,130],"multiple":[2],"robotic":[3],"agents":[4,14,92,103],"for":[5,40,79,121,126],"waypoint-based":[6],"exploration":[7],"or":[8],"coverage":[9],"tasks,":[10],"collision":[11,41,76],"avoidance":[12,42,77],"between":[13],"is":[15,67,119,137],"an":[16],"important":[17],"issue.":[18],"With":[19],"a":[20,49,68,75,97],"centralized":[21],"planner,":[22],"this":[23,101],"issue":[24],"arises":[25],"only":[26,113],"at":[27],"one":[28,115],"central":[29],"instance.":[30],"However,":[31],"when":[32,94],"asynchronous":[34,55],"and/or":[35],"decentralized":[36,38,61],"algorithms,":[37],"methods":[39],"need":[43],"to":[44,71,107,140],"be":[45],"used.":[46],"We":[47],"propose":[48],"novel":[50],"approach":[51],"based":[52],"on":[53],"the":[54,88,131],"backtracking":[56],"(ABT)":[57],"algorithm":[58],"which":[59],"provides":[60],"constraint":[62],"satisfaction":[63],"called":[64],"continuous":[65,69],"ABT(C-ABT).&#13;\\nC-ABT":[66],"extension":[70],"ABT":[72,86,112],"intended":[73],"as":[74],"layer":[78],"existing":[80],"multi-agent":[81],"waypoint":[82],"navigation.":[83],"It":[84],"extends":[85],"in":[87],"sense":[89],"that":[90],"participating":[91],"know":[93],"they":[95],"found":[96],"valid":[98],"solution.":[99],"In":[100],"case,":[102],"can":[104],"safely":[105],"move":[106],"their":[108],"selected":[109],"waypoints.":[110],"While":[111],"finds":[114],"static":[116],"solution,":[117],"C-ABT":[118,136],"suited":[120],"continuously":[122],"provided":[123],"new":[124],"waypoints":[125],"all":[127],"agents.":[128],"By":[129],"concept":[132],"of":[133,142],"local":[134],"neighborhoods,":[135],"also":[138],"scalable":[139],"swarms":[141],"arbitrary":[143],"size.":[144]},"counts_by_year":[{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
