{"id":"https://openalex.org/W2763149145","doi":"https://doi.org/10.1109/ccta.2017.8062554","title":"MPC-Based mid-level collision avoidance for asvs using nonlinear programming","display_name":"MPC-Based mid-level collision avoidance for asvs using nonlinear programming","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2763149145","doi":"https://doi.org/10.1109/ccta.2017.8062554","mag":"2763149145"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2017.8062554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062554","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11250/2479486","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009903855","display_name":"Bj\u00f8rn\u2010Olav H. Eriksen","orcid":"https://orcid.org/0000-0002-0786-2549"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Bjorn-Olav H. Eriksen","raw_affiliation_strings":["Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056645491","display_name":"Morten Breivik","orcid":"https://orcid.org/0000-0002-0457-1850"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Morten Breivik","raw_affiliation_strings":["Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204778367"],"apc_list":null,"apc_paid":null,"fwci":11.1255,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.99290179,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"766","last_page":"772"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11622","display_name":"Maritime Navigation and Safety","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9980000257492065,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.986299991607666,"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/collision-avoidance","display_name":"Collision avoidance","score":0.8117704391479492},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6599202752113342},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.6279144287109375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6096176505088806},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5654280781745911},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5550136566162109},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5242761969566345},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4980921745300293},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4866865277290344},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4806893765926361},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4697915315628052},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.4470597207546234},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.43115001916885376},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3952085077762604},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1950908899307251},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15863215923309326},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15339899063110352}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8117704391479492},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6599202752113342},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6279144287109375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6096176505088806},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5654280781745911},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5550136566162109},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5242761969566345},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4980921745300293},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4866865277290344},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4806893765926361},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4697915315628052},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.4470597207546234},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.43115001916885376},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3952085077762604},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1950908899307251},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15863215923309326},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15339899063110352},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ccta.2017.8062554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062554","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},{"id":"pmh:oai:brage.bibsys.no:11250/2479486","is_oa":true,"landing_page_url":"http://hdl.handle.net/11250/2479486","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"766-772","raw_type":"info:eu-repo/semantics/bookPart"}],"best_oa_location":{"id":"pmh:oai:brage.bibsys.no:11250/2479486","is_oa":true,"landing_page_url":"http://hdl.handle.net/11250/2479486","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"766-772","raw_type":"info:eu-repo/semantics/bookPart"},"sustainable_development_goals":[{"display_name":"Life below water","score":0.6700000166893005,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323299","display_name":"Norges Forskningsr\u00e5d","ror":"https://ror.org/00epmv149"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W226033124","https://openalex.org/W1969483458","https://openalex.org/W1992989752","https://openalex.org/W2002440441","https://openalex.org/W2033819227","https://openalex.org/W2072908839","https://openalex.org/W2074547849","https://openalex.org/W2096078692","https://openalex.org/W2117211893","https://openalex.org/W2123278146","https://openalex.org/W2123871098","https://openalex.org/W2145089737","https://openalex.org/W2484617215","https://openalex.org/W2513395028","https://openalex.org/W2527961715","https://openalex.org/W2550341318","https://openalex.org/W2619838070","https://openalex.org/W4230659150","https://openalex.org/W6605295560","https://openalex.org/W6681425221"],"related_works":["https://openalex.org/W4206704743","https://openalex.org/W2019128690","https://openalex.org/W436931041","https://openalex.org/W1495847109","https://openalex.org/W2390817143","https://openalex.org/W2106813160","https://openalex.org/W2355743697","https://openalex.org/W2894731288","https://openalex.org/W2384138382","https://openalex.org/W2381309080"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,37,57,64,132],"mid-level":[6],"collision":[7],"avoidance":[8,27],"algorithm":[9,25,91,107,118,129,134],"for":[10,72,84,135],"autonomous":[11],"surface":[12],"vehicles":[13],"(ASVs)":[14],"based":[15],"on":[16],"model":[17],"predictive":[18],"control":[19],"(MPC)":[20],"using":[21],"nonlinear":[22,65],"programming.":[23],"The":[24,90,103],"enables":[26],"of":[28,36,46,80,105],"both":[29],"static":[30],"and":[31,34,60,98],"moving":[32],"obstacles,":[33],"following":[35],"desired":[38],"nominal":[39],"trajectory":[40],"if":[41],"there":[42],"is":[43,56,63,92,108,119],"no":[44],"danger":[45],"collision.":[47],"We":[48],"compare":[49],"two":[50],"alternative":[51],"objective":[52],"functions,":[53],"where":[54],"one":[55],"quadratic":[58],"function":[59,66],"the":[61,81,95,100,106,117],"other":[62,73],"designed":[67],"to":[68,123,140],"produce":[69],"maneuvers":[70],"observable":[71],"vessels":[74],"in":[75,94,125,138],"compliance":[76],"with":[77],"rule":[78],"8":[79],"International":[82],"Regulations":[83],"Preventing":[85],"Collisions":[86],"at":[87],"Sea":[88],"(COLREGS).":[89],"implemented":[93],"CASADI":[96],"framework":[97],"uses":[99],"IPOPT":[101],"solver.":[102],"performance":[104],"evaluated":[109],"through":[110],"simulations":[111],"which":[112],"show":[113],"promising":[114],"results.":[115],"Furthermore,":[116],"considered":[120],"computationally":[121],"feasible":[122],"run":[124],"real":[126],"time.":[127],"This":[128],"serves":[130],"as":[131],"base":[133],"further":[136],"development":[137],"order":[139],"ensure":[141],"full":[142],"COLREGS":[143],"compliance.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":9}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
