{"id":"https://openalex.org/W4414322700","doi":"https://doi.org/10.1109/ecmr65884.2025.11163014","title":"Non-Holonomic Mobile Manipulator NMPC for Occlusion Avoidance Based on Elliptic Cone FOV Representation","display_name":"Non-Holonomic Mobile Manipulator NMPC for Occlusion Avoidance Based on Elliptic Cone FOV Representation","publication_year":2025,"publication_date":"2025-09-02","ids":{"openalex":"https://openalex.org/W4414322700","doi":"https://doi.org/10.1109/ecmr65884.2025.11163014"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr65884.2025.11163014","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr65884.2025.11163014","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5119665451","display_name":"R. Por\u00e9e","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"R. Por\u00e9e","raw_affiliation_strings":["CNRS, LAAS,Toulouse,France,F-31400"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS,Toulouse,France,F-31400","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003728735","display_name":"M. Mujica","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Mujica","raw_affiliation_strings":["CNRS, LAAS,Toulouse,France,F-31400"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS,Toulouse,France,F-31400","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108805351","display_name":"N. Tricot","orcid":"https://orcid.org/0000-0002-8527-0530"},"institutions":[{"id":"https://openalex.org/I4210088668","display_name":"Institut National de Recherche pour l'Agriculture, l'Alimentation et l'Environnement","ror":"https://ror.org/003vg9w96","country_code":"FR","type":"government","lineage":["https://openalex.org/I4210088668"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"N. Tricot","raw_affiliation_strings":["INRAE, TSCF,Aubi&#x00E8;re,France,63178"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRAE, TSCF,Aubi&#x00E8;re,France,63178","institution_ids":["https://openalex.org/I4210088668"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111985699","display_name":"V. Cadenat","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"V. Cadenat","raw_affiliation_strings":["CNRS, LAAS,Toulouse,France,F-31400"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS, LAAS,Toulouse,France,F-31400","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26172329,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.984000027179718,"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":0.984000027179718,"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":0.960099995136261,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9445000290870667,"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/control-theory","display_name":"Control theory (sociology)","score":0.5547000169754028},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5256999731063843},{"id":"https://openalex.org/keywords/occlusion","display_name":"Occlusion","score":0.5123000144958496},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.3928000032901764},{"id":"https://openalex.org/keywords/cone","display_name":"Cone (formal languages)","score":0.37279999256134033},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.2971999943256378}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5547000169754028},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.548799991607666},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5256999731063843},{"id":"https://openalex.org/C2776268601","wikidata":"https://www.wikidata.org/wiki/Q968808","display_name":"Occlusion","level":2,"score":0.5123000144958496},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4787999987602234},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4219000041484833},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.3928000032901764},{"id":"https://openalex.org/C30014739","wikidata":"https://www.wikidata.org/wiki/Q5159445","display_name":"Cone (formal languages)","level":2,"score":0.37279999256134033},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3294999897480011},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.2971999943256378},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.28760001063346863},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2863999903202057},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2782000005245209},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25690001249313354},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ecmr65884.2025.11163014","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr65884.2025.11163014","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-05292762v1","is_oa":false,"landing_page_url":"https://hal.science/hal-05292762","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2025 European Conference on Mobile Robots (ECMR), Sep 2025, Padova, Italy. pp.1-7, &#x27E8;10.1109/ECMR65884.2025.11163014&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G607715208","display_name":"Interactive Mobile Manipulation","funder_award_id":"ANR-22-EXOD-0003","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2618596017","https://openalex.org/W2774637756","https://openalex.org/W2782655722","https://openalex.org/W2790391221","https://openalex.org/W2883162277","https://openalex.org/W2942988616","https://openalex.org/W2974673232","https://openalex.org/W3007472832","https://openalex.org/W3133754294","https://openalex.org/W3142665287","https://openalex.org/W3165942895","https://openalex.org/W4285250753","https://openalex.org/W4295916087","https://openalex.org/W4313563042","https://openalex.org/W4383108947"],"related_works":[],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"robots":[3],"have":[4],"been":[5],"deployed":[6],"outside":[7],"factories,":[8],"in":[9,23,40,63,91,114,125,150,157],"unstructured":[10],"environments":[11,25],"such":[12],"as":[13,109,111],"agricultural":[14,45],"fields.":[15],"This":[16,29],"challenge":[17],"requires":[18],"the":[19,49,51,61,81,89,92,102,107,112,115,127,132,141,148,154],"robot":[20,52],"to":[21,84],"operate":[22],"complex":[24],"with":[26,36,160],"people":[27],"nearby.":[28],"paper":[30,72],"studies":[31],"a":[32,37,56,74,164],"mobile":[33,82],"manipulator":[34,83],"equipped":[35],"camera,":[38],"working":[39],"vine":[41],"fields":[42],"alongside":[43],"an":[44],"worker.":[46,166],"To":[47,68],"perform":[48],"task,":[50,155],"must":[53,130],"move":[54],"through":[55],"cluttered":[57],"environment":[58],"while":[59,87,134],"keeping":[60,147],"worker":[62,149],"its":[64],"field":[65,93,103],"of":[66,94,104,106,120,146],"view.":[67,95],"this":[69,71],"end,":[70],"proposes":[73],"nonlinear":[75],"model":[76],"predictive":[77],"control":[78],"(NMPC)":[79],"allowing":[80],"avoid":[85],"obstacles":[86,113,162],"preserving":[88],"person":[90],"The":[96,137],"proposed":[97,142],"method":[98],"relies":[99],"on":[100],"modelling":[101],"view":[105,151],"camera":[108],"well":[110],"3D":[116],"space.":[117],"Several":[118],"simulations":[119],"increasing":[121],"difficulty":[122],"are":[123],"presented":[124],"which":[126],"entire":[128],"system":[129],"follow":[131],"trajectory":[133],"avoiding":[135],"obstacles.":[136],"results":[138],"showed":[139],"that":[140],"approach":[143],"is":[144],"capable":[145],"and":[152,163],"performing":[153],"even":[156],"critical":[158],"cases":[159],"multiple":[161],"moving":[165]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
