{"id":"https://openalex.org/W4413925531","doi":"https://doi.org/10.1109/icra55743.2025.11127277","title":"Multi-Agent Obstacle Avoidance Using Velocity Obstacles and Control Barrier Functions","display_name":"Multi-Agent Obstacle Avoidance Using Velocity Obstacles and Control Barrier Functions","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925531","doi":"https://doi.org/10.1109/icra55743.2025.11127277"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 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/A5114438804","display_name":"Alejandro S\u00e1nchez Roncero","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Alejandro S\u00e1nchez Roncero","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Royal Institute of Technology (KTH),Robotics, Perception and Learning Lab.,Stockholm,Sweden,SE-10044"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Royal Institute of Technology (KTH),Robotics, Perception and Learning Lab.,Stockholm,Sweden,SE-10044","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042154760","display_name":"Rafael I. Cabral Muchacho","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Rafael I. Cabral Muchacho","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Royal Institute of Technology (KTH),Robotics, Perception and Learning Lab.,Stockholm,Sweden,SE-10044"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Royal Institute of Technology (KTH),Robotics, Perception and Learning Lab.,Stockholm,Sweden,SE-10044","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070754732","display_name":"Petter \u00d6gren","orcid":"https://orcid.org/0000-0002-7714-928X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Petter \u00d6gren","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Royal Institute of Technology (KTH),Robotics, Perception and Learning Lab.,Stockholm,Sweden,SE-10044"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Royal Institute of Technology (KTH),Robotics, Perception and Learning Lab.,Stockholm,Sweden,SE-10044","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5114438804"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":3.8676,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.94166471,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6638","last_page":"6644"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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":0.9990000128746033,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9886000156402588,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9794999957084656,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6916431784629822},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6022461652755737},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49057143926620483},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47603610157966614},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4144340455532074},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23903173208236694},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1776653528213501},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15971308946609497},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.08274215459823608}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6916431784629822},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6022461652755737},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49057143926620483},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47603610157966614},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4144340455532074},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23903173208236694},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1776653528213501},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15971308946609497},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.08274215459823608},{"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/icra55743.2025.11127277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W178419168","https://openalex.org/W192919555","https://openalex.org/W281943252","https://openalex.org/W1878563552","https://openalex.org/W1985204762","https://openalex.org/W1993436019","https://openalex.org/W2002440441","https://openalex.org/W2097639646","https://openalex.org/W2142943472","https://openalex.org/W2296341047","https://openalex.org/W2560504659","https://openalex.org/W2886268387","https://openalex.org/W2913106923","https://openalex.org/W2968945909","https://openalex.org/W3011888914","https://openalex.org/W3094402048","https://openalex.org/W3159266051","https://openalex.org/W4312660220","https://openalex.org/W4385452005","https://openalex.org/W4391542929","https://openalex.org/W4392188956","https://openalex.org/W4400946337","https://openalex.org/W4401414011","https://openalex.org/W4402262118"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":{"Velocity":[0],"Obstacles":[1],"(VO)":[2],"methods":[3,18],"form":[4],"a":[5,46,52,76],"paradigm":[6],"for":[7,49,57],"collision":[8,99],"avoidance":[9],"strategies":[10],"among":[11],"moving":[12],"obstacles":[13],"and":[14,30,67,83,101],"agents.":[15],"While":[16],"VO":[17,47],"perform":[19],"well":[20],"in":[21,36,75],"simple":[22],"multi-agent":[23],"environments,":[24],"they":[25],"do":[26],"not":[27],"guarantee":[28],"safety":[29],"can":[31],"show":[32],"overly":[33,62],"conservative":[34,63],"behavior":[35,64],"common":[37],"situations.":[38],"In":[39],"this":[40],"paper,":[41],"we":[42],"propose":[43],"to":[44,96],"combine":[45],"strategy":[48],"guidance":[50],"with":[51,94],"Control":[53],"Barrier":[54],"Function":[55],"approach":[56],"safety,":[58],"which":[59],"overcomes":[60],"the":[61,92],"of":[65],"VOs":[66],"formally":[68],"guarantees":[69],"safety.":[70],"We":[71],"validate":[72],"our":[73,89],"method":[74,90],"baseline":[77],"comparison":[78],"study,":[79],"using":[80],"second-order":[81],"integrator":[82],"car-like":[84],"dynamics.":[85],"Results":[86],"support":[87],"that":[88],"outperforms":[91],"baselines":[93],"respect":[95],"path":[97],"smoothness,":[98],"avoidance,":[100],"success":[102],"rates.":[103]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
