{"id":"https://openalex.org/W2109843019","doi":"https://doi.org/10.1109/cdc.2009.5400279","title":"Deadlock-free path-following control for collision avoidance of multiple robots","display_name":"Deadlock-free path-following control for collision avoidance of multiple robots","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2109843019","doi":"https://doi.org/10.1109/cdc.2009.5400279","mag":"2109843019"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2009.5400279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2009.5400279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference","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/A5032693556","display_name":"Kazunori Sakurama","orcid":"https://orcid.org/0000-0002-7754-7915"},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazunori Sakurama","raw_affiliation_strings":["Department of Electronic Engineering, University of Electro-Communications, Chofu, Tokyo, Japan","Department of Electronic Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, University of Electro-Communications, Chofu, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"Department of Electronic Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103711128","display_name":"Kazushi Nakano","orcid":null},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazushi Nakano","raw_affiliation_strings":["Department of Electronic Engineering, University of Electro-Communications, Chofu, Tokyo, Japan","Department of Electronic Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, University of Electro-Communications, Chofu, Tokyo, Japan","institution_ids":["https://openalex.org/I20529979"]},{"raw_affiliation_string":"Department of Electronic Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu-shi, Tokyo 182-8585, Japan","institution_ids":["https://openalex.org/I20529979"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3285,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.61380083,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"40","issue":null,"first_page":"5673","last_page":"5678"},"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":0.9973000288009644,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.782272219657898},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.7507603168487549},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7442501187324524},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6874638795852661},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6450015306472778},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5938236713409424},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5620208382606506},{"id":"https://openalex.org/keywords/deadlock","display_name":"Deadlock","score":0.5365545749664307},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5346716046333313},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4913252890110016},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4340711832046509},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3881450295448303},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34608834981918335},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3276819586753845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22701182961463928},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22179219126701355},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.1403188705444336},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.05341064929962158}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.782272219657898},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.7507603168487549},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7442501187324524},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6874638795852661},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6450015306472778},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5938236713409424},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5620208382606506},{"id":"https://openalex.org/C159023740","wikidata":"https://www.wikidata.org/wiki/Q623276","display_name":"Deadlock","level":2,"score":0.5365545749664307},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5346716046333313},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4913252890110016},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4340711832046509},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3881450295448303},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34608834981918335},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3276819586753845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22701182961463928},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22179219126701355},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.1403188705444336},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.05341064929962158},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2009.5400279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2009.5400279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference","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":16,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1602152458","https://openalex.org/W1986612694","https://openalex.org/W2030766364","https://openalex.org/W2141967156","https://openalex.org/W2144063905","https://openalex.org/W2148528501","https://openalex.org/W2160594889","https://openalex.org/W2168520354","https://openalex.org/W2169742265","https://openalex.org/W2315974940","https://openalex.org/W2583768011","https://openalex.org/W4242811155","https://openalex.org/W6647153062","https://openalex.org/W6682140563","https://openalex.org/W6683600039"],"related_works":["https://openalex.org/W2056060483","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183","https://openalex.org/W2172235251","https://openalex.org/W4386597929","https://openalex.org/W3149551512","https://openalex.org/W2015625470"],"abstract_inverted_index":{"This":[0,96],"paper":[1,97],"deals":[2],"with":[3,24,72],"a":[4,99,110,144],"collision":[5,90,113],"avoidance":[6,114],"problem":[7],"for":[8,147,165],"path-following":[9,15,67],"of":[10,94,127,157],"multiple":[11,62],"holonomic":[12],"robots.":[13,168],"The":[14,121],"aims":[16],"to":[17,55,65,88],"move":[18],"the":[19,33,37,42,61,78,85,92,103,118,125,128,138,151,155],"robots":[20,63,86,139],"along":[21],"reference":[22,38,79],"paths":[23,39,80],"assigned":[25,48],"velocities.":[26],"When":[27],"there":[28],"are":[29,50],"geometric":[30,104],"errors":[31],"between":[32,44],"robots'":[34],"positions":[35],"and":[36,47,105,108],"or":[40],"when":[41],"differences":[43],"their":[45],"velocities":[46,49],"not":[51],"zero,":[52],"we":[53],"expect":[54],"reduce":[56],"these":[57],"errors.":[58],"Unfortunately,":[59],"if":[60],"try":[64],"realize":[66],"completely,":[68],"they":[69],"may":[70],"collide":[71],"one":[73],"another":[74],"in":[75,131],"areas":[76],"where":[77],"intersect.":[81],"In":[82],"this":[83,135],"case,":[84],"have":[87],"avoid":[89],"at":[91],"expense":[93],"path-following.":[95],"defines":[98],"cost":[100,119,129,152],"function":[101,130,146],"evaluating":[102],"velocity":[106],"errors,":[107],"proposes":[109],"new":[111],"online":[112],"method":[115,123,136,160],"which":[116],"constrains":[117],"function.":[120,153],"proposed":[122,159],"minimizes":[124],"time-derivative":[126],"each":[132,148],"instance.":[133],"Moreover,":[134],"prevents":[137],"from":[140],"deadlocking":[141],"by":[142,163],"introducing":[143],"penalty":[145],"robot":[149],"into":[150],"Finally,":[154],"effectiveness":[156],"our":[158],"is":[161],"demonstrated":[162],"simulations":[164],"three":[166],"mobile":[167]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}