{"id":"https://openalex.org/W2024802078","doi":"https://doi.org/10.1109/icra.2012.6224648","title":"LQG-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty","display_name":"LQG-obstacles: Feedback control with collision avoidance for mobile robots with motion and sensing uncertainty","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2024802078","doi":"https://doi.org/10.1109/icra.2012.6224648","mag":"2024802078"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224648","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224648","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5108617083","display_name":"Jur van den Berg","orcid":null},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jur van den Berg","raw_affiliation_strings":["School of Computing, University of Utah, USA","[School of Computing, University of Utah, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing, University of Utah, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"[School of Computing, University of Utah, USA]","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020162100","display_name":"David A. Wilkie","orcid":"https://orcid.org/0000-0002-4237-0371"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Wilkie","raw_affiliation_strings":["Department of Computer Science, University of North Carolina, Chapel Hill, USA","Dept. of Computer Science, Univ. of North Carolina at Chapel Hill, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina, Chapel Hill, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Dept. of Computer Science, Univ. of North Carolina at Chapel Hill, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007324122","display_name":"Stephen J. Guy","orcid":"https://orcid.org/0000-0001-8986-5817"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen J. Guy","raw_affiliation_strings":["Department of Computer Science, University of North Carolina, Chapel Hill, USA","Dept. of Computer Science, Univ. of North Carolina at Chapel Hill, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina, Chapel Hill, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Dept. of Computer Science, Univ. of North Carolina at Chapel Hill, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108610850","display_name":"Marc Niethammer","orcid":null},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marc Niethammer","raw_affiliation_strings":["Department of Computer Science, University of North Carolina, Chapel Hill, USA","Dept. of Computer Science, Univ. of North Carolina at Chapel Hill, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina, Chapel Hill, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Dept. of Computer Science, Univ. of North Carolina at Chapel Hill, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004194238","display_name":"Dinesh Manocha","orcid":"https://orcid.org/0000-0001-7047-9801"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["Department of Computer Science, University of North Carolina, Chapel Hill, USA","Dept. of Computer Science, Univ. of North Carolina at Chapel Hill, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina, Chapel Hill, USA","institution_ids":["https://openalex.org/I114027177"]},{"raw_affiliation_string":"Dept. of Computer Science, Univ. of North Carolina at Chapel Hill, USA","institution_ids":["https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":87,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"346","last_page":"353"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9979000091552734,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/linear-quadratic-gaussian-control","display_name":"Linear-quadratic-Gaussian control","score":0.9703670740127563},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7711804509162903},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7194650173187256},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5630159378051758},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5438864231109619},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5255951881408691},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5042325258255005},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.5011329650878906},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4934960603713989},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.49083003401756287},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.48098433017730713},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4698539972305298},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4506152868270874},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4197603762149811},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4123757779598236},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3794538378715515},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2952979803085327},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28076308965682983},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17021968960762024},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14388006925582886},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.08905494213104248}],"concepts":[{"id":"https://openalex.org/C204495892","wikidata":"https://www.wikidata.org/wiki/Q1798304","display_name":"Linear-quadratic-Gaussian control","level":3,"score":0.9703670740127563},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7711804509162903},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7194650173187256},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5630159378051758},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5438864231109619},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5255951881408691},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5042325258255005},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.5011329650878906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4934960603713989},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.49083003401756287},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.48098433017730713},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4698539972305298},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4506152868270874},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4197603762149811},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4123757779598236},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3794538378715515},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2952979803085327},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28076308965682983},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17021968960762024},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14388006925582886},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.08905494213104248},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/icra.2012.6224648","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224648","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W283036238","https://openalex.org/W304861154","https://openalex.org/W599341852","https://openalex.org/W1529817735","https://openalex.org/W1547397412","https://openalex.org/W1979743043","https://openalex.org/W2000359213","https://openalex.org/W2000790002","https://openalex.org/W2002201291","https://openalex.org/W2002219970","https://openalex.org/W2002440441","https://openalex.org/W2028893450","https://openalex.org/W2032100464","https://openalex.org/W2032681112","https://openalex.org/W2040384615","https://openalex.org/W2053833381","https://openalex.org/W2065894019","https://openalex.org/W2099430963","https://openalex.org/W2100538121","https://openalex.org/W2116311127","https://openalex.org/W2117211893","https://openalex.org/W2128990851","https://openalex.org/W2144088174","https://openalex.org/W2145101110","https://openalex.org/W2148182166","https://openalex.org/W2157304242","https://openalex.org/W2158400962","https://openalex.org/W2166052572","https://openalex.org/W2167856595","https://openalex.org/W2168359464","https://openalex.org/W2325970467","https://openalex.org/W2336416123","https://openalex.org/W2510352861","https://openalex.org/W4255985591","https://openalex.org/W6631664056","https://openalex.org/W6674541415","https://openalex.org/W6681230966","https://openalex.org/W6681718981"],"related_works":["https://openalex.org/W3777868","https://openalex.org/W2051766198","https://openalex.org/W1990910969","https://openalex.org/W2915806395","https://openalex.org/W2913749762","https://openalex.org/W234468389","https://openalex.org/W2007152535","https://openalex.org/W2321940404","https://openalex.org/W3041379944","https://openalex.org/W2140606111"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"LQG-Obstacles,":[3],"a":[4,36,43,55,61,83,89,110],"new":[5],"concept":[6,26],"that":[7,80],"combines":[8],"linear-quadratic":[9],"feedback":[10,52],"control":[11,63,78,90],"of":[12,18,27,59,77,103],"mobile":[13],"robots":[14],"with":[15,20,35,85,114,126],"guaranteed":[16],"avoidance":[17],"collisions":[19],"obstacles.":[21],"Our":[22],"approach":[23],"generalizes":[24],"the":[25,66,72,75,93,101],"Velocity":[28],"Obstacles":[29],"[3]":[30],"to":[31],"any":[32],"robotic":[33],"system":[34],"linear":[37],"Gaussian":[38],"dynamics":[39,57,117],"model.":[40],"We":[41,69,99],"integrate":[42],"Kalman":[44],"filter":[45],"for":[46],"state":[47],"estimation":[48],"and":[49,107,118,120,128],"an":[50],"LQR":[51],"controller":[53],"into":[54],"closed-loop":[56],"model":[58],"which":[60],"higher-level":[62],"objective":[64,91],"is":[65],"\u201ccontrol":[67],"input\u201d.":[68],"then":[70,95],"define":[71],"LQG-Obstacle":[73,94],"as":[74],"set":[76],"objectives":[79],"result":[81],"in":[82],"collision":[84],"high":[86],"probability.":[87],"Selecting":[88],"outside":[92],"produces":[96],"collision-free":[97],"motion.":[98],"demonstrate":[100],"potential":[102],"LQG-Obstacles":[104],"by":[105],"safely":[106],"smoothly":[108],"navigating":[109],"simulated":[111],"quadrotor":[112],"helicopter":[113],"complex":[115],"non-linear":[116],"motion":[119],"sensing":[121],"uncertainty":[122],"through":[123],"three-dimensional":[124],"environments":[125],"obstacles":[127],"narrow":[129],"passages.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":14},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
