{"id":"https://openalex.org/W4402437090","doi":"https://doi.org/10.1109/ccta60707.2024.10666526","title":"Collision Avoidance Control for Distributed Multi-Robot Systems Using Collision Cones and CBF-Based Constraints","display_name":"Collision Avoidance Control for Distributed Multi-Robot Systems Using Collision Cones and CBF-Based Constraints","publication_year":2024,"publication_date":"2024-08-21","ids":{"openalex":"https://openalex.org/W4402437090","doi":"https://doi.org/10.1109/ccta60707.2024.10666526"},"language":"en","primary_location":{"id":"doi:10.1109/ccta60707.2024.10666526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta60707.2024.10666526","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Conference on Control Technology and Applications (CCTA)","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/A5092385042","display_name":"Thiviyathinesvaran Palani","orcid":"https://orcid.org/0000-0002-4863-047X"},"institutions":[{"id":"https://openalex.org/I78928947","display_name":"Kyoto University of Advanced Science","ror":"https://ror.org/00qa6r925","country_code":"JP","type":"education","lineage":["https://openalex.org/I78928947"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Thiviyathinesvaran Palani","raw_affiliation_strings":["Kyoto University of Advanced Science,Faculty of Engineering,Kyoto,Japan,615-8577"],"affiliations":[{"raw_affiliation_string":"Kyoto University of Advanced Science,Faculty of Engineering,Kyoto,Japan,615-8577","institution_ids":["https://openalex.org/I78928947"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054801081","display_name":"Hiroaki Fukushima","orcid":"https://orcid.org/0000-0002-0646-6974"},"institutions":[{"id":"https://openalex.org/I78928947","display_name":"Kyoto University of Advanced Science","ror":"https://ror.org/00qa6r925","country_code":"JP","type":"education","lineage":["https://openalex.org/I78928947"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroaki Fukushima","raw_affiliation_strings":["Kyoto University of Advanced Science,Faculty of Engineering,Kyoto,Japan,615-8577"],"affiliations":[{"raw_affiliation_string":"Kyoto University of Advanced Science,Faculty of Engineering,Kyoto,Japan,615-8577","institution_ids":["https://openalex.org/I78928947"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071814439","display_name":"Shunsuke Izuhara","orcid":"https://orcid.org/0000-0003-0492-4991"},"institutions":[{"id":"https://openalex.org/I78928947","display_name":"Kyoto University of Advanced Science","ror":"https://ror.org/00qa6r925","country_code":"JP","type":"education","lineage":["https://openalex.org/I78928947"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shunsuke Izuhara","raw_affiliation_strings":["Kyoto University of Advanced Science,Faculty of Engineering,Kyoto,Japan,615-8577"],"affiliations":[{"raw_affiliation_string":"Kyoto University of Advanced Science,Faculty of Engineering,Kyoto,Japan,615-8577","institution_ids":["https://openalex.org/I78928947"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5092385042"],"corresponding_institution_ids":["https://openalex.org/I78928947"],"apc_list":null,"apc_paid":null,"fwci":0.7895,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.73088613,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"787","last_page":"792"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9986000061035156,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9836000204086304,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.9221760034561157},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7374954223632812},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5918458104133606},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5914181470870972},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38347309827804565},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3224766254425049},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2241927683353424},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09164825081825256}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.9221760034561157},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7374954223632812},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5918458104133606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5914181470870972},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38347309827804565},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3224766254425049},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2241927683353424},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09164825081825256}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccta60707.2024.10666526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta60707.2024.10666526","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2032422329","https://openalex.org/W2485992890","https://openalex.org/W2573311857","https://openalex.org/W2588802774","https://openalex.org/W2620840602","https://openalex.org/W2626930290","https://openalex.org/W2763985578","https://openalex.org/W2797537646","https://openalex.org/W2800490489","https://openalex.org/W2892212196","https://openalex.org/W2908850135","https://openalex.org/W2913106923","https://openalex.org/W2968945909","https://openalex.org/W3015470607","https://openalex.org/W3035313359","https://openalex.org/W3094402048","https://openalex.org/W3183413118","https://openalex.org/W3186176241","https://openalex.org/W4210521410","https://openalex.org/W4294692105","https://openalex.org/W4366678338","https://openalex.org/W4382935797"],"related_works":["https://openalex.org/W2889566344","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W3113932901","https://openalex.org/W2537110013","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311"],"abstract_inverted_index":{"Collision":[0],"avoidance":[1,18,118],"with":[2,66,97],"moving":[3,22,40,68],"obstacles":[4,23,98],"is":[5,42,56,105,119,136],"a":[6,15,26,36,39,54,67,86],"fundamental":[7],"problem":[8],"for":[9],"multi-robot":[10],"systems.":[11],"This":[12,104],"paper":[13],"presents":[14],"new":[16],"collision":[17,48,74,102,114,117],"control":[19,87,128],"method":[20,135],"involving":[21],"without":[24],"solving":[25],"numerical":[27],"optimization":[28],"problem.":[29],"When":[30],"the":[31,47,50,60,63,73,78,94,101,106,126,133],"current":[32],"relative":[33,64,95],"velocity":[34,65,81,96],"between":[35],"robot":[37,55],"and":[38,140],"obstacle":[41,69],"close":[43],"to":[44,92],"or":[45],"within":[46],"cone,":[49],"heading":[51,79],"angle":[52],"of":[53,62,82,132],"modified":[57],"such":[58],"that":[59],"direction":[61],"moves":[70],"away":[71],"from":[72,99,109],"cone.":[75,103],"Constraints":[76],"on":[77,85,113,125],"angular":[80],"robots":[83],"based":[84,112],"barrier":[88],"function":[89],"are":[90],"utilized":[91],"prevent":[93],"entering":[100],"main":[107],"distinction":[108],"previous":[110],"methods":[111],"cones.":[115],"Furthermore,":[116],"verified":[120],"by":[121],"validating":[122],"position-based":[123],"constraints":[124],"computed":[127],"input.":[129],"The":[130],"effectiveness":[131],"proposed":[134],"demonstrated":[137],"through":[138],"simulations":[139],"experiments.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
