{"id":"https://openalex.org/W2952291344","doi":"https://doi.org/10.1109/icarsc.2019.8733643","title":"Hybrid Approach to Estimate a Collision-Free Velocity for Autonomous Surface Vehicles","display_name":"Hybrid Approach to Estimate a Collision-Free Velocity for Autonomous Surface Vehicles","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2952291344","doi":"https://doi.org/10.1109/icarsc.2019.8733643","mag":"2952291344"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc.2019.8733643","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2019.8733643","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","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/A5027361669","display_name":"Renato Silva","orcid":"https://orcid.org/0000-0001-7009-9569"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Renato Silva","raw_affiliation_strings":["Center for Robotics and Autonomous Systems of INESCTEC and Faculty of Engineering, University of Porto, Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Robotics and Autonomous Systems of INESCTEC and Faculty of Engineering, University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213","https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024298981","display_name":"Pedro Nuno Leite","orcid":"https://orcid.org/0000-0002-9016-525X"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro Leite","raw_affiliation_strings":["Center for Robotics and Autonomous Systems of INESCTEC and Faculty of Engineering, University of Porto, Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Robotics and Autonomous Systems of INESCTEC and Faculty of Engineering, University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213","https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090831885","display_name":"Daniel Campos","orcid":"https://orcid.org/0000-0002-3982-1856"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Daniel Campos","raw_affiliation_strings":["Center for Robotics and Autonomous Systems of INESCTEC and Faculty of Engineering, University of Porto, Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Robotics and Autonomous Systems of INESCTEC and Faculty of Engineering, University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213","https://openalex.org/I4210166615"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004154927","display_name":"Andry Maykol Pinto","orcid":"https://orcid.org/0000-0003-2465-5813"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Andry M. Pinto","raw_affiliation_strings":["Center for Robotics and Autonomous Systems of INESCTEC and Faculty of Engineering, University of Porto, Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Robotics and Autonomous Systems of INESCTEC and Faculty of Engineering, University of Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213","https://openalex.org/I4210166615"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027361669"],"corresponding_institution_ids":["https://openalex.org/I182534213","https://openalex.org/I4210166615"],"apc_list":null,"apc_paid":null,"fwci":0.4083,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.64817732,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9865999817848206,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/obstacle","display_name":"Obstacle","score":0.7486156821250916},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.7329667806625366},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.6901851892471313},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6484856605529785},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5978417992591858},{"id":"https://openalex.org/keywords/overtaking","display_name":"Overtaking","score":0.5916992425918579},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5664069056510925},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5636568665504456},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5576479434967041},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4771932065486908},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4766700565814972},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.45896270871162415},{"id":"https://openalex.org/keywords/radius","display_name":"RADIUS","score":0.44835150241851807},{"id":"https://openalex.org/keywords/crew","display_name":"Crew","score":0.44083547592163086},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.43931224942207336},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43541592359542847},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.42030608654022217},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.3645451068878174},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.24522444605827332},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22035998106002808},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.19941028952598572},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.1881483793258667},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16686728596687317},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1598300039768219},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.15229395031929016},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.13924896717071533},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.11650288105010986},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.114437997341156}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7486156821250916},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.7329667806625366},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.6901851892471313},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6484856605529785},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5978417992591858},{"id":"https://openalex.org/C2778448659","wikidata":"https://www.wikidata.org/wiki/Q1931051","display_name":"Overtaking","level":2,"score":0.5916992425918579},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5664069056510925},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5636568665504456},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5576479434967041},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4771932065486908},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4766700565814972},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.45896270871162415},{"id":"https://openalex.org/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.44835150241851807},{"id":"https://openalex.org/C2780179797","wikidata":"https://www.wikidata.org/wiki/Q345844","display_name":"Crew","level":2,"score":0.44083547592163086},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.43931224942207336},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43541592359542847},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.42030608654022217},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3645451068878174},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.24522444605827332},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22035998106002808},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.19941028952598572},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.1881483793258667},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16686728596687317},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1598300039768219},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.15229395031929016},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.13924896717071533},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.11650288105010986},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.114437997341156},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarsc.2019.8733643","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc.2019.8733643","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8199999928474426,"display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1580535863","https://openalex.org/W2062573767","https://openalex.org/W2152536965","https://openalex.org/W2549200707","https://openalex.org/W2909959402"],"related_works":["https://openalex.org/W3084163143","https://openalex.org/W3198453306","https://openalex.org/W3081587374","https://openalex.org/W591161629","https://openalex.org/W2294880310","https://openalex.org/W2102544652","https://openalex.org/W3208192858","https://openalex.org/W2618142536","https://openalex.org/W4251855072","https://openalex.org/W2922689720"],"abstract_inverted_index":{"Shipping":[0],"transportation":[1],"mode":[2],"needs":[3],"to":[4,31,168,173,188],"be":[5],"even":[6],"more":[7,13],"efficient,":[8],"profitable":[9],"and":[10,42,57,67,75,107,117,124,146,165],"secure":[11],"as":[12,130,132],"than":[14],"80":[15],"%":[16],"of":[17,35,46,120,126,148,162,180,185],"the":[18,29,33,44,47,91,94,121,127,144,149,160,163,166,183],"world's":[19],"trade":[20],"is":[21,54,151,171],"done":[22],"by":[23,153,159],"sea.":[24],"Autonomous":[25,86],"ships":[26],"will":[27],"provide":[28],"possibility":[30],"eliminate":[32],"likelihood":[34],"human":[36],"error,":[37],"reduce":[38],"unnecessary":[39],"crew":[40],"costs":[41],"increase":[43],"efficiency":[45],"cargo":[48],"spaces.":[49],"Although":[50],"a":[51,65,101,133,137,155],"significant":[52],"work":[53],"being":[55],"made,":[56],"new":[58],"algorithms":[59],"are":[60,63],"arising,":[61],"they":[62],"still":[64,68],"mirage":[66],"have":[69],"some":[70],"problems":[71],"regarding":[72],"safety,":[73],"autonomy":[74],"reliability.":[76],"This":[77,98],"paper":[78],"proposes":[79],"an":[80],"online":[81],"obstacle":[82],"avoidance":[83],"algorithm":[84],"for":[85,143],"Surfaces":[87],"Vehicles":[88],"(ASVs)":[89],"introducing":[90],"reachability":[92],"with":[93,195],"protective":[95],"zone":[96],"concepts.":[97],"method":[99,187],"estimates":[100],"collision-free":[102],"velocity":[103],"based":[104],"on":[105],"inner":[106],"outer":[108],"constraints":[109],"such":[110],"as,":[111],"current":[112],"velocity,":[113],"direction,":[114],"maximum":[115],"speed":[116,145],"turning":[118],"radius":[119],"vehicle,":[122],"position":[123],"dimensions":[125],"surround":[128],"obstacles":[129,169,191],"well":[131],"movement":[134],"prediction":[135],"in":[136,192],"close":[138],"future.":[139],"A":[140,178],"non-restrictive":[141],"estimative":[142],"direction":[147],"ASV":[150],"calculated":[152],"mapping":[154],"conflict":[156],"zone,":[157],"determined":[158],"course":[161],"vehicle":[164],"distance":[167],"that":[170],"used":[172],"avoid":[174],"imminent":[175],"dangerous":[176],"situations.":[177],"set":[179],"simulations":[181],"demonstrates":[182],"ability":[184],"this":[186],"safely":[189],"circumvent":[190],"several":[193],"scenarios":[194],"different":[196],"weather":[197],"conditions.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-29T09:21:14.243279","created_date":"2025-10-10T00:00:00"}