{"id":"https://openalex.org/W3206590752","doi":"https://doi.org/10.1109/icra46639.2022.9812455","title":"Robotic Autonomous Trolley Collection with Progressive Perception and Nonlinear Model Predictive Control","display_name":"Robotic Autonomous Trolley Collection with Progressive Perception and Nonlinear Model Predictive Control","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W3206590752","doi":"https://doi.org/10.1109/icra46639.2022.9812455","mag":"3206590752"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812455","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812455","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":"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/A5008106624","display_name":"Anxing Xiao","orcid":"https://orcid.org/0000-0001-7184-8365"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Anxing Xiao","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","Department of Electronic and Electrical Engineering of Southern, Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering of Southern, Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037305765","display_name":"Hao Luan","orcid":"https://orcid.org/0000-0001-5673-0764"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Luan","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","Department of Electronic and Electrical Engineering of Southern, Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering of Southern, Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100625271","display_name":"Ziqi Zhao","orcid":"https://orcid.org/0000-0002-0416-6468"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziqi Zhao","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","Department of Electronic and Electrical Engineering of Southern, Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering of Southern, Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059893133","display_name":"Hong Yue","orcid":"https://orcid.org/0000-0003-2072-6223"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Hong","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","Department of Electronic and Electrical Engineering of Southern, Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering of Southern, Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063292936","display_name":"Jieting Zhao","orcid":"https://orcid.org/0009-0002-7604-3608"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jieting Zhao","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","Department of Electronic and Electrical Engineering of Southern, Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering of Southern, Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101989449","display_name":"Weinan Chen","orcid":"https://orcid.org/0009-0009-5233-6247"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weinan Chen","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","Department of Electronic and Electrical Engineering of Southern, Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering of Southern, Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043461784","display_name":"Jiankun Wang","orcid":"https://orcid.org/0000-0001-9139-0291"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiankun Wang","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","Department of Electronic and Electrical Engineering of Southern, Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen,Department of Electronic and Electrical Engineering of Southern,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering of Southern, Shenzhen Key Laboratory of Robotics Perception and Intelligence, University of Science and Technology in Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["the Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong","Shenzhen Research Institute of the Chinese University of Hong Kong, Shenzhen, China","Department of Electronic Engineering, the Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"the Chinese University of Hong Kong,Department of Electronic Engineering,Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Shenzhen Research Institute of the Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Department of Electronic Engineering, the Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5008106624"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":5.5549,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.97761652,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4480","last_page":"4486"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},{"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980999827384949,"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/computer-science","display_name":"Computer science","score":0.6841620206832886},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6836504936218262},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.605816125869751},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5793188214302063},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5041402578353882},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44358113408088684},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.41624850034713745},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4147946834564209},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4139108657836914},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23550498485565186}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6841620206832886},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6836504936218262},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.605816125869751},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5793188214302063},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5041402578353882},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44358113408088684},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.41624850034713745},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4147946834564209},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4139108657836914},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23550498485565186},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812455","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812455","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W114517082","https://openalex.org/W639708223","https://openalex.org/W1522301498","https://openalex.org/W1991544872","https://openalex.org/W2004805052","https://openalex.org/W2085261163","https://openalex.org/W2130422193","https://openalex.org/W2131865378","https://openalex.org/W2152864241","https://openalex.org/W2153000379","https://openalex.org/W2155840082","https://openalex.org/W2307770531","https://openalex.org/W2613718673","https://openalex.org/W2842089854","https://openalex.org/W2900755369","https://openalex.org/W2962708411","https://openalex.org/W3002248669","https://openalex.org/W3083963542","https://openalex.org/W3112585240","https://openalex.org/W3114509423","https://openalex.org/W3132695608","https://openalex.org/W3134337851","https://openalex.org/W3164312794","https://openalex.org/W3183652554","https://openalex.org/W3186317065","https://openalex.org/W3208826636","https://openalex.org/W4226195072","https://openalex.org/W6620707391","https://openalex.org/W6631190155","https://openalex.org/W6679875354","https://openalex.org/W6790896913"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2060165215","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W2320869598","https://openalex.org/W2381210024","https://openalex.org/W2384015130","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Autonomous":[0],"mobile":[1,52],"manipulation":[2,53],"robots":[3],"that":[4,100],"can":[5],"collect":[6,83],"trolleys":[7,26,84],"are":[8,31,189],"widely":[9],"used":[10],"to":[11,79,151],"liberate":[12],"human":[13],"resources":[14],"and":[15,37,69,73,81,87,104,125,173,184,187],"fight":[16],"epidemics.":[17],"Most":[18],"prior":[19],"robotic":[20],"trolley":[21,59,97,181],"collection":[22,182],"solutions":[23],"only":[24],"detect":[25],"with":[27,55,117,147],"2D":[28],"poses":[29],"or":[30],"merely":[32],"based":[33],"on":[34,179],"spe-cific":[35],"marks":[36],"lack":[38],"the":[39,77,131,136,158,161,177],"formal":[40],"design":[41,68,172],"of":[42,164],"planning":[43,74,132,139],"algorithms.":[44],"In":[45],"this":[46],"paper,":[47],"we":[48,92,134],"present":[49],"a":[50,65,70,95,108,112,126,141],"novel":[51,127],"system":[54,63,78,178],"applications":[56],"in":[57,85,111,160],"luggage":[58],"collection.":[60],"The":[61],"proposed":[62],"integrates":[64],"compact":[66],"hardware":[67],"progressive":[71],"perception":[72],"framework,":[75],"enabling":[76],"efficiently":[80],"robustly":[82],"dynamic":[86],"complex":[88],"environments.":[89],"For":[90],"perception,":[91],"first":[93],"develop":[94],"3D":[96],"detection":[98,103,123],"method":[99,124],"combines":[101],"object":[102],"keypoint":[105],"estimation.":[106],"Then,":[107],"docking":[109],"process":[110],"short":[113],"distance":[114],"is":[115],"achieved":[116],"an":[118],"accurate":[119],"point":[120],"cloud":[121],"plane":[122],"manipulator":[128],"design.":[129],"On":[130],"side,":[133],"formulate":[135],"robot's":[137],"motion":[138],"under":[140],"nonlinear":[142],"model":[143],"predictive":[144],"control":[145,148],"framework":[146,174],"barrier":[149],"functions":[150],"improve":[152],"obstacle":[153],"avoidance":[154],"capabilities":[155],"while":[156],"maintaining":[157],"target":[159],"sensors'":[162],"field":[163],"view":[165],"at":[166],"close":[167],"distances.":[168],"We":[169],"demonstrate":[170],"our":[171],"by":[175],"deploying":[176],"actual":[180],"tasks,":[183],"their":[185],"effectiveness":[186],"robustness":[188],"experimentally":[190],"validated.":[191],"(Video":[192],"<sup":[193,196],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[194,197],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[195,198],"Video":[199],"demonstration:":[200],"https://youtu.be/6SwjgGvRtno.)":[201]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}
