{"id":"https://openalex.org/W2291099268","doi":"https://doi.org/10.1109/cdc.2015.7402221","title":"Collision avoidance of mobile robots by using initial time delays","display_name":"Collision avoidance of mobile robots by using initial time delays","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2291099268","doi":"https://doi.org/10.1109/cdc.2015.7402221","mag":"2291099268"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2015.7402221","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2015.7402221","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 54th IEEE Conference on Decision and Control (CDC)","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/A5100407848","display_name":"Xu Wang","orcid":"https://orcid.org/0000-0002-1492-3477"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Xu Wang","raw_affiliation_strings":["Arag\u00f3n Institute of Engineering Research (I3A), University of Zaragoza, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arag\u00f3n Institute of Engineering Research (I3A), University of Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046534630","display_name":"Marius Kloetzer","orcid":"https://orcid.org/0000-0003-4338-0421"},"institutions":[{"id":"https://openalex.org/I4210108695","display_name":"Gheorghe Asachi Technical University of Ia\u0219i","ror":"https://ror.org/014zxnz40","country_code":"RO","type":"education","lineage":["https://openalex.org/I4210108695"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Marius Kloetzer","raw_affiliation_strings":["Dept. of Automatic Control and Applied Informatics, Technical University \u201cGheorghe Asachi\u201d of Iasi, Romania","Dept. of Automatic Control and Applied Informatics, Technical University \"Gheorghe Asachi\" of Iasi, Romania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Automatic Control and Applied Informatics, Technical University \u201cGheorghe Asachi\u201d of Iasi, Romania","institution_ids":["https://openalex.org/I4210108695"]},{"raw_affiliation_string":"Dept. of Automatic Control and Applied Informatics, Technical University \"Gheorghe Asachi\" of Iasi, Romania","institution_ids":["https://openalex.org/I4210108695"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085504277","display_name":"Cristian Mahulea","orcid":"https://orcid.org/0000-0003-0056-2225"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Cristian Mahulea","raw_affiliation_strings":["Arag\u00f3n Institute of Engineering Research (I3A), University of Zaragoza, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arag\u00f3n Institute of Engineering Research (I3A), University of Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100385306","display_name":"Manuel Silva","orcid":"https://orcid.org/0000-0001-8631-8770"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Manuel Silva","raw_affiliation_strings":["Arag\u00f3n Institute of Engineering Research (I3A), University of Zaragoza, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arag\u00f3n Institute of Engineering Research (I3A), University of Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7489,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.80389841,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"324","last_page":"329"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"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":0.996999979019165,"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/T10142","display_name":"Formal Methods in Verification","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10933","display_name":"Real-Time Systems Scheduling","score":0.9733999967575073,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/trajectory","display_name":"Trajectory","score":0.8224952220916748},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7927022576332092},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7618715167045593},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6925963163375854},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6159316897392273},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6043930053710938},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5891696214675903},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5484411120414734},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.4172128140926361},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41093748807907104},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40122491121292114},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.341509610414505},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28685998916625977},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20793315768241882},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18348431587219238},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17774298787117004},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.05325579643249512}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8224952220916748},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7927022576332092},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7618715167045593},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6925963163375854},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6159316897392273},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6043930053710938},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5891696214675903},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5484411120414734},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.4172128140926361},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41093748807907104},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40122491121292114},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.341509610414505},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28685998916625977},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20793315768241882},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18348431587219238},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17774298787117004},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.05325579643249512},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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.2015.7402221","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2015.7402221","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 54th IEEE Conference on Decision and Control (CDC)","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":31,"referenced_works":["https://openalex.org/W83424896","https://openalex.org/W178419168","https://openalex.org/W592715486","https://openalex.org/W1018525745","https://openalex.org/W1496620875","https://openalex.org/W1498432697","https://openalex.org/W1521785144","https://openalex.org/W1672041297","https://openalex.org/W1972530288","https://openalex.org/W1991596047","https://openalex.org/W2011282943","https://openalex.org/W2034182710","https://openalex.org/W2037933704","https://openalex.org/W2045403423","https://openalex.org/W2056549180","https://openalex.org/W2056864430","https://openalex.org/W2068715140","https://openalex.org/W2083818207","https://openalex.org/W2089241508","https://openalex.org/W2114578185","https://openalex.org/W2116647221","https://openalex.org/W2141967156","https://openalex.org/W2146714802","https://openalex.org/W2166691751","https://openalex.org/W2509841691","https://openalex.org/W2526264695","https://openalex.org/W2549082795","https://openalex.org/W3150739601","https://openalex.org/W4229885360","https://openalex.org/W4251391716","https://openalex.org/W6617719144"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W2889566344","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W2402852349"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"a":[3,8,14,70,111],"collision":[4],"avoidance":[5],"problem":[6,46],"in":[7],"multi-robot":[9],"system.":[10],"Each":[11],"robot":[12],"has":[13],"set":[15,76],"of":[16,28,30,68,77,87],"possible":[17],"trajectories,":[18],"each":[19,41,58,80,106],"trajectory":[20,72,104],"fulfilling":[21],"its":[22],"individual":[23],"task.":[24],"The":[25,45,82],"trajectories":[26],"consist":[27],"sequences":[29],"regions":[31],"to":[32,48,126],"be":[33],"followed,":[34],"and":[35,118],"the":[36,66,74,85,95,102,115,127],"time":[37,55,97],"for":[38,57,79,105],"moving":[39],"inside":[40],"region":[42],"is":[43,47,124],"known.":[44],"avoid":[49],"inter-robot":[50],"collisions":[51],"by":[52],"imposing":[53,69],"initial":[54,96],"delays":[56,98],"trajectory.":[59],"Two":[60],"solutions":[61,83,117],"are":[62],"developed,":[63],"depending":[64],"on":[65,114],"possibility":[67],"certain":[71],"from":[73],"available":[75],"paths":[78],"robot.":[81,107],"have":[84],"form":[86],"mixed":[88],"integer":[89],"linear":[90],"programming":[91],"optimizations":[92],"that":[93,121],"return":[94],"and,":[99],"when":[100],"necessary,":[101],"chosen":[103],"Finally,":[108],"we":[109,119],"perform":[110],"statistical":[112],"study":[113],"proposed":[116],"conclude":[120],"one":[122],"formulation":[123],"preferable":[125],"others.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}