{"id":"https://openalex.org/W4221167815","doi":"https://doi.org/10.1109/icra46639.2022.9811536","title":"Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach","display_name":"Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4221167815","doi":"https://doi.org/10.1109/icra46639.2022.9811536"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811536","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811536","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","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/A5100330401","display_name":"Ibrahim Ibrahim","orcid":"https://orcid.org/0000-0001-6840-558X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ibrahim Ibrahim","raw_affiliation_strings":["Robotic Systems Lab ETH,Z&#x00FC;rich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab ETH,Z&#x00FC;rich","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040208292","display_name":"Farbod Farshidian","orcid":"https://orcid.org/0000-0001-8269-6272"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Farbod Farshidian","raw_affiliation_strings":["Robotic Systems Lab ETH,Z&#x00FC;rich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab ETH,Z&#x00FC;rich","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066751391","display_name":"Jan Preisig","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jan Preisig","raw_affiliation_strings":["Robotic Systems Lab ETH,Z&#x00FC;rich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab ETH,Z&#x00FC;rich","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108543211","display_name":"Perry Franklin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Perry Franklin","raw_affiliation_strings":["Robotic Systems Lab ETH,Z&#x00FC;rich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab ETH,Z&#x00FC;rich","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065821384","display_name":"Paolo Rocco","orcid":"https://orcid.org/0000-0001-6716-434X"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Rocco","raw_affiliation_strings":["MERLIN, Politecnico di Milano"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MERLIN, Politecnico di Milano","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Lab ETH,Z&#x00FC;rich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab ETH,Z&#x00FC;rich","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"221","last_page":"227"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9872999787330627,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9872999787330627,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9836000204086304,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9829000234603882,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.7791091799736023},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.675645649433136},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6199365258216858},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.5977087616920471},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4280664622783661},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4144379794597626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4102831780910492},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40503889322280884},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.40006959438323975},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3528504967689514},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18021905422210693}],"concepts":[{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.7791091799736023},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.675645649433136},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6199365258216858},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.5977087616920471},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4280664622783661},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4144379794597626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4102831780910492},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40503889322280884},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.40006959438323975},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3528504967689514},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18021905422210693},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra46639.2022.9811536","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811536","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/700974","is_oa":false,"landing_page_url":"https://lirias.kuleuven.be/bitstream/20.500.12942/700974/2/56836-0948.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 23-27 May 2022","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:re.public.polimi.it:11311/1232344","is_oa":false,"landing_page_url":"https://hdl.handle.net/11311/1232344","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6499999761581421,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320326765","display_name":"National Centre of Competence in Research Robotics","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W99913121","https://openalex.org/W187586930","https://openalex.org/W1532701078","https://openalex.org/W1588884749","https://openalex.org/W1901530621","https://openalex.org/W1978331593","https://openalex.org/W2050422177","https://openalex.org/W2087422927","https://openalex.org/W2105582660","https://openalex.org/W2125795624","https://openalex.org/W2144812930","https://openalex.org/W2528129622","https://openalex.org/W2529220408","https://openalex.org/W2587088476","https://openalex.org/W2810202557","https://openalex.org/W2871173840","https://openalex.org/W2945261895","https://openalex.org/W2970228732","https://openalex.org/W2973525135","https://openalex.org/W3010334993","https://openalex.org/W3046735138","https://openalex.org/W3047130794","https://openalex.org/W3090412393","https://openalex.org/W3098691969","https://openalex.org/W3105372678","https://openalex.org/W3142410314","https://openalex.org/W4294623590","https://openalex.org/W6631963404","https://openalex.org/W6753348601"],"related_works":["https://openalex.org/W2392812199","https://openalex.org/W4200176076","https://openalex.org/W598185802","https://openalex.org/W2355516524","https://openalex.org/W2361471170","https://openalex.org/W2025616642","https://openalex.org/W1954972543","https://openalex.org/W2349580982","https://openalex.org/W2037938733","https://openalex.org/W2001839669"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,22,38,45,51,65,83,154],"novel":[4],"approach":[5,16],"for":[6,85,153],"whole-body":[7,39],"motion":[8],"planning":[9],"and":[10,88,100],"dynamic":[11],"occlusion":[12],"avoidance.":[13],"The":[14,59],"proposed":[15,148],"reformulates":[17],"the":[18,33,77,112,121,144,147],"visibility":[19,26,57,60],"constraint":[20],"as":[21],"likelihood":[23],"maximization":[24,54],"of":[25,37,56,95,115,146],"probability.":[27,58],"In":[28],"this":[29,96],"formulation,":[30],"we":[31,124,142],"augment":[32],"primary":[34],"cost":[35],"function":[36,49],"model":[40],"predictive":[41],"control":[42],"scheme":[43],"through":[44,64,103],"relaxed":[46,52],"log":[47],"barrier":[48],"yielding":[50],"log-likelihood":[53],"formulation":[55],"probability":[61],"is":[62],"computed":[63],"probabilistic":[66],"shadow":[67,117],"field":[68,84,97,118],"that":[69,109],"quantifies":[70],"point":[71],"light":[72],"source":[73],"occlusions.":[74],"We":[75,91,107],"provide":[76],"necessary":[78],"algorithms":[79],"to":[80,111,120],"obtain":[81],"such":[82],"both":[86],"2D":[87,93],"3D":[89,101],"cases.":[90],"demonstrate":[92],"implementations":[94,102],"in":[98,151],"simulation":[99,152],"real-time":[104],"hardware":[105],"experiments.":[106],"show":[108],"due":[110],"linear":[113],"complexity":[114],"our":[116],"algorithm":[119],"map":[122],"size,":[123],"can":[125],"achieve":[126],"high":[127],"update":[128],"rates,":[129],"which":[130],"facilitates":[131],"onboard":[132],"execution":[133],"on":[134],"mobile":[135,156],"platforms":[136],"with":[137],"limited":[138],"computational":[139],"power.":[140],"Lastly,":[141],"evaluate":[143],"performance":[145],"MPC":[149],"reformulation":[150],"quadrupedal":[155],"manipulator.":[157]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
