{"id":"https://openalex.org/W4287846139","doi":"https://doi.org/10.1109/icca54724.2022.9831912","title":"Safe Motion Planning for Goal Reaching of Multiple Autonomous Surface Vehicles Based on High-order Control Barrier Functions","display_name":"Safe Motion Planning for Goal Reaching of Multiple Autonomous Surface Vehicles Based on High-order Control Barrier Functions","publication_year":2022,"publication_date":"2022-06-27","ids":{"openalex":"https://openalex.org/W4287846139","doi":"https://doi.org/10.1109/icca54724.2022.9831912"},"language":"en","primary_location":{"id":"doi:10.1109/icca54724.2022.9831912","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca54724.2022.9831912","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 17th International Conference on Control &amp; Automation (ICCA)","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/A5059114966","display_name":"Yanping Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanping Xu","raw_affiliation_strings":["Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China,116026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China,116026","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100771916","display_name":"Lu Liu","orcid":"https://orcid.org/0000-0001-8137-671X"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lu Liu","raw_affiliation_strings":["Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China,116026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China,116026","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026501858","display_name":"Zhouhua Peng","orcid":"https://orcid.org/0000-0003-4468-7281"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhouhua Peng","raw_affiliation_strings":["Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China,116026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China,116026","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101593329","display_name":"Dan Wang","orcid":"https://orcid.org/0000-0002-4099-6004"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dan Wang","raw_affiliation_strings":["Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China,116026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China,116026","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100775993","display_name":"Haoliang Wang","orcid":"https://orcid.org/0000-0003-4222-9893"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoliang Wang","raw_affiliation_strings":["Dalian Maritime University,School of Marine Engineering,Dalian,China,116026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,School of Marine Engineering,Dalian,China,116026","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100450936","display_name":"Anqing Wang","orcid":"https://orcid.org/0000-0003-3288-6048"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anqing Wang","raw_affiliation_strings":["Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China,116026"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian Maritime University,School of Marine Electrical Engineering,Dalian,China,116026","institution_ids":["https://openalex.org/I43313876"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I43313876"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"660","last_page":"664"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9448999762535095,"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/collision-avoidance","display_name":"Collision avoidance","score":0.8711154460906982},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7474914193153381},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6825481057167053},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6776884198188782},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6302883625030518},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5933845043182373},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.549014687538147},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5287505984306335},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5167590975761414},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4715207815170288},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4499153792858124},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4413948059082031},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4400709271430969},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4193170368671417},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3764323890209198},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35769790410995483},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29270386695861816},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2854445278644562},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.24405181407928467},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22622257471084595},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22618234157562256},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15285998582839966},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12967351078987122}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8711154460906982},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7474914193153381},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6825481057167053},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6776884198188782},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6302883625030518},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5933845043182373},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.549014687538147},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5287505984306335},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5167590975761414},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4715207815170288},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4499153792858124},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4413948059082031},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4400709271430969},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4193170368671417},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3764323890209198},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35769790410995483},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29270386695861816},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2854445278644562},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.24405181407928467},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22622257471084595},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22618234157562256},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15285998582839966},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12967351078987122},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca54724.2022.9831912","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca54724.2022.9831912","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 17th International Conference on Control &amp; Automation (ICCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320329895","display_name":"Liaoning Revitalization Talents Program","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W299041473","https://openalex.org/W1493185555","https://openalex.org/W2002440441","https://openalex.org/W2031404716","https://openalex.org/W2074547849","https://openalex.org/W2171505650","https://openalex.org/W2327298648","https://openalex.org/W2345111710","https://openalex.org/W2418555985","https://openalex.org/W2524886531","https://openalex.org/W2525396288","https://openalex.org/W2579065153","https://openalex.org/W2612054959","https://openalex.org/W2624600449","https://openalex.org/W2735654539","https://openalex.org/W2883731169","https://openalex.org/W2892618546","https://openalex.org/W2901325952","https://openalex.org/W2905364384","https://openalex.org/W2905456320","https://openalex.org/W2920076348","https://openalex.org/W2935623401","https://openalex.org/W2944499591","https://openalex.org/W2948452254","https://openalex.org/W2951036575","https://openalex.org/W2953994797","https://openalex.org/W2963631491","https://openalex.org/W2968945909","https://openalex.org/W2991232381","https://openalex.org/W2998623850","https://openalex.org/W3011814489","https://openalex.org/W3023077548","https://openalex.org/W3035525587","https://openalex.org/W3037669777","https://openalex.org/W3080681337","https://openalex.org/W3117756863","https://openalex.org/W3125609744","https://openalex.org/W3149053487","https://openalex.org/W3164999294","https://openalex.org/W3165638448","https://openalex.org/W3166078487","https://openalex.org/W3173094319","https://openalex.org/W3176757096","https://openalex.org/W3182505022","https://openalex.org/W3187161146","https://openalex.org/W3193458730","https://openalex.org/W3199185363","https://openalex.org/W3214567980","https://openalex.org/W3217265368","https://openalex.org/W4248049034","https://openalex.org/W6610690723","https://openalex.org/W6795888878","https://openalex.org/W6804033804"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2975575631","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109"],"abstract_inverted_index":{"Real-time":[0],"motion":[1,24,42,81,123],"planning":[2,25,43,82,124],"is":[3,45,84],"critical":[4],"to":[5,27,37,57,86,96,115,130],"real-world":[6],"applications":[7],"of":[8,34,119],"autonomous":[9],"surface":[10],"vehicles":[11],"(ASVs)":[12],"moving":[13],"in":[14],"a":[15,32,73],"complex":[16],"sea":[17],"environment.":[18],"This":[19],"paper":[20],"presents":[21],"an":[22],"efficient":[23],"method":[26,125],"generate":[28],"collision-free":[29,67],"trajectories":[30,68],"for":[31,126],"fleet":[33],"ASVs":[35,128],"subject":[36,129],"static":[38,105],"obstacles.":[39],"The":[40,65,78],"safe":[41,80],"algorithm":[44,83],"proposed":[46,79,121],"based":[47],"on":[48],"high-order":[49],"control":[50],"barrier":[51],"functions":[52],"(HOCBFs),":[53],"which":[54],"are":[55,69,113],"able":[56,85],"address":[58],"the":[59,88,117,120],"obstacle":[60],"and":[61,103,107,134],"inter-vehicle":[62],"collision":[63,135],"avoidance.":[64],"optimal":[66],"obtained":[70],"by":[71],"solving":[72],"quadratic":[74],"program":[75],"(QP)":[76],"problem.":[77],"achieve":[87],"following":[89],"two":[90],"objectives:":[91],"generating":[92],"feasible":[93],"yaw":[94],"rates":[95],"guide":[97],"each":[98],"ASV":[99],"toward":[100],"its":[101],"goal,":[102],"handling":[104],"obstacles":[106],"model":[108,132],"constraints,":[109],"simultaneously.":[110],"Simulation":[111],"results":[112],"given":[114],"substantiate":[116],"efficacy":[118],"safety-critical":[122],"multiple":[127],"kinematic":[131],"constraints":[133],"avoidance":[136],"constraints.":[137]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}
