{"id":"https://openalex.org/W2783975637","doi":"https://doi.org/10.1109/cdc.2017.8264097","title":"A nerve-theoretic result on the problem of a topological obstruction in reach control","display_name":"A nerve-theoretic result on the problem of a topological obstruction in reach control","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2783975637","doi":"https://doi.org/10.1109/cdc.2017.8264097","mag":"2783975637"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2017.8264097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8264097","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual 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/A5070897457","display_name":"Melkior Ornik","orcid":"https://orcid.org/0000-0002-8510-8787"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Melkior Ornik","raw_affiliation_strings":["Department of Electrical & Computer Engineering, University of Toronto, Ontario, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, University of Toronto, Ontario, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016807277","display_name":"Mireille E. Broucke","orcid":"https://orcid.org/0000-0001-8275-3716"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mireille E. Broucke","raw_affiliation_strings":["University of Toronto, Toronto, ON, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto, Toronto, ON, CA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1847,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.60171196,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"3009","last_page":"3014"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9883000254631042,"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":0.9883000254631042,"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/T10896","display_name":"Homotopy and Cohomology in Algebraic Topology","score":0.9648000001907349,"subfield":{"id":"https://openalex.org/subfields/2610","display_name":"Mathematical Physics"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"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":0.954200029373169,"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/mathematics","display_name":"Mathematics","score":0.6413896679878235},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.6027251482009888},{"id":"https://openalex.org/keywords/homotopy","display_name":"Homotopy","score":0.5699015259742737},{"id":"https://openalex.org/keywords/simplex","display_name":"Simplex","score":0.5294772386550903},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5004229545593262},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4667311906814575},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4317575693130493},{"id":"https://openalex.org/keywords/facet","display_name":"Facet (psychology)","score":0.420635849237442},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2752971649169922},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.20367690920829773},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.09758567810058594},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09319135546684265},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0732363760471344}],"concepts":[{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.6413896679878235},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.6027251482009888},{"id":"https://openalex.org/C5961521","wikidata":"https://www.wikidata.org/wiki/Q746083","display_name":"Homotopy","level":2,"score":0.5699015259742737},{"id":"https://openalex.org/C62438384","wikidata":"https://www.wikidata.org/wiki/Q331350","display_name":"Simplex","level":2,"score":0.5294772386550903},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5004229545593262},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4667311906814575},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4317575693130493},{"id":"https://openalex.org/C43122875","wikidata":"https://www.wikidata.org/wiki/Q5428522","display_name":"Facet (psychology)","level":4,"score":0.420635849237442},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2752971649169922},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.20367690920829773},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.09758567810058594},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09319135546684265},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0732363760471344},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2865642","wikidata":"https://www.wikidata.org/wiki/Q378132","display_name":"Big Five personality traits","level":3,"score":0.0},{"id":"https://openalex.org/C187288502","wikidata":"https://www.wikidata.org/wiki/Q641118","display_name":"Personality","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2017.8264097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8264097","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W615884439","https://openalex.org/W883595310","https://openalex.org/W1557477276","https://openalex.org/W1969470866","https://openalex.org/W1971044547","https://openalex.org/W2014791742","https://openalex.org/W2060102864","https://openalex.org/W2101942472","https://openalex.org/W2109710314","https://openalex.org/W2116647221","https://openalex.org/W2166691751","https://openalex.org/W2172806547","https://openalex.org/W2291879295","https://openalex.org/W2409927141","https://openalex.org/W2418333579","https://openalex.org/W2563365141","https://openalex.org/W2607396117","https://openalex.org/W2756255538","https://openalex.org/W2911463656","https://openalex.org/W6642962755","https://openalex.org/W6758511958"],"related_works":["https://openalex.org/W2498745440","https://openalex.org/W1979800236","https://openalex.org/W2063021680","https://openalex.org/W2026926350","https://openalex.org/W1246225575","https://openalex.org/W2753430430","https://openalex.org/W2046049508","https://openalex.org/W2104008518","https://openalex.org/W2027102437","https://openalex.org/W1597775350"],"abstract_inverted_index":{"This":[0,103],"paper":[1,90],"deals":[2],"with":[3],"a":[4,25,31,36,43,49,57,69,72,92,100,123,132],"necessary":[5,59,94,113,126],"condition":[6,60,95,104,127],"for":[7,61,96,128],"the":[8,11,40,62,65,81,97,106,129,136],"solvability":[9,63],"of":[10,48,64,71,83,99,131],"Reach":[12],"Control":[13],"Problem":[14],"(RCP)":[15],"by":[16],"continuous":[17,26],"state":[18,27],"feedback.":[19],"The":[20,46],"RCP":[21],"seeks":[22],"to":[23,38],"find":[24],"feedback":[28],"which":[29],"drives":[30],"control":[32],"system":[33],"defined":[34],"on":[35],"simplex":[37,41],"leave":[39],"through":[42],"predetermined":[44],"facet.":[45],"problem":[47],"topological":[50,73,101,133],"obstruction":[51,74,134],"has":[52,75],"been":[53,76],"previously":[54],"identified":[55],"as":[56],"strong":[58],"RCP,":[66],"and":[67,86,115,119,125],"finding":[68],"characterization":[70],"an":[77],"ongoing":[78],"effort.":[79],"Using":[80],"methodology":[82],"homotopy":[84],"theory":[85],"nerve":[87],"theory,":[88],"this":[89],"provides":[91],"new":[93],"existence":[98,130],"obstruction.":[102],"removes":[105],"gap":[107],"that":[108],"exists":[109],"between":[110],"currently":[111],"available":[112],"conditions":[114],"current":[116],"sufficient":[117,124],"conditions,":[118],"hence":[120],"results":[121],"in":[122,135],"RCP.":[137]},"counts_by_year":[{"year":2017,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}