{"id":"https://openalex.org/W2906937164","doi":"https://doi.org/10.1109/icarcv.2018.8581239","title":"Reciprocal Collision Avoidance for Nonholonomic Mobile Robots","display_name":"Reciprocal Collision Avoidance for Nonholonomic Mobile Robots","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2906937164","doi":"https://doi.org/10.1109/icarcv.2018.8581239","mag":"2906937164"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2018.8581239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2018.8581239","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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/A5100435773","display_name":"Lei Wang","orcid":"https://orcid.org/0000-0001-7286-3559"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Lei Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100700917","display_name":"Zhengguo Li","orcid":"https://orcid.org/0000-0002-4525-1204"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhengguo Li","raw_affiliation_strings":["Robotics Department, Institute for Infocomm Research, Singapore"],"affiliations":[{"raw_affiliation_string":"Robotics Department, Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100344158","display_name":"Changyun Wen","orcid":"https://orcid.org/0000-0001-9530-360X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Changyun Wen","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013965758","display_name":"Renjie He","orcid":"https://orcid.org/0000-0003-2191-1121"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Renjie He","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068826373","display_name":"Fanghong Guo","orcid":"https://orcid.org/0000-0003-1721-266X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fanghong Guo","raw_affiliation_strings":["Department of Automation, Zhejiang University of Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100435773"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":0.4178,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.68419322,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"371","last_page":"376"},"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":0.9997000098228455,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.759404718875885},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7503223419189453},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7450157403945923},{"id":"https://openalex.org/keywords/reciprocal","display_name":"Reciprocal","score":0.7392406463623047},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.6774808764457703},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5977684259414673},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5838024616241455},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5754873752593994},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.48183929920196533},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45055320858955383},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3772023320198059},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21878719329833984},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1939246654510498},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1406022310256958}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.759404718875885},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7503223419189453},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7450157403945923},{"id":"https://openalex.org/C2777742833","wikidata":"https://www.wikidata.org/wiki/Q1964083","display_name":"Reciprocal","level":2,"score":0.7392406463623047},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.6774808764457703},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5977684259414673},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5838024616241455},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5754873752593994},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.48183929920196533},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45055320858955383},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3772023320198059},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21878719329833984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1939246654510498},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1406022310256958},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2018.8581239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2018.8581239","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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":19,"referenced_works":["https://openalex.org/W178419168","https://openalex.org/W192919555","https://openalex.org/W1820081798","https://openalex.org/W1965760189","https://openalex.org/W1969483458","https://openalex.org/W1976517551","https://openalex.org/W1993643921","https://openalex.org/W2000790002","https://openalex.org/W2002440441","https://openalex.org/W2015354819","https://openalex.org/W2026089793","https://openalex.org/W2103464737","https://openalex.org/W2117211893","https://openalex.org/W2414434006","https://openalex.org/W2595897327","https://openalex.org/W2734739950","https://openalex.org/W2964136016","https://openalex.org/W3158890422","https://openalex.org/W6716400855"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2391753177","https://openalex.org/W2032198329","https://openalex.org/W2996284460","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W2020829486","https://openalex.org/W2165574943","https://openalex.org/W2726391638","https://openalex.org/W2016451691"],"abstract_inverted_index":{"In":[0],"this":[1,68],"paper,":[2],"reciprocal":[3],"collision":[4,55],"avoidance":[5],"is":[6,52,66,78,92],"studied":[7],"for":[8,48,94],"nonholonomic":[9],"mobile":[10],"robots":[11,96],"to":[12,21],"achieve":[13],"an":[14],"efficient":[15],"navigation.":[16],"Two":[17],"strategies":[18],"are":[19],"proposed":[20,106],"respectively":[22],"adjust":[23],"the":[24,39,60,71,74,84,98,102,105],"linear":[25,49,64],"and":[26],"angular":[27,76],"velocities":[28,65,77],"so":[29],"that":[30,54],"a":[31,43,90],"collision-free":[32,40],"navigation":[33,41],"can":[34,56],"be":[35,57],"achieved.":[36],"By":[37],"characterizing":[38],"as":[42],"set":[44],"of":[45,63,73,86,104],"changing":[46,61],"ratios":[47],"velocities,":[50],"it":[51],"shown":[53],"avoided":[58],"if":[59],"ratio":[62],"inside":[67],"set.":[69],"Moreover,":[70],"strategy":[72],"adjusting":[75],"established":[79],"following":[80],"TTC-based":[81],"method.":[82,107],"With":[83],"combination":[85],"these":[87],"two":[88],"strategies,":[89],"simulation":[91],"done":[93],"four":[95],"crossing":[97],"intersection,":[99],"which":[100],"shows":[101],"effectiveness":[103]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}