{"id":"https://openalex.org/W4413925229","doi":"https://doi.org/10.1109/icra55743.2025.11128721","title":"Safety-Critical Control with Saliency Detection for Mobile Robots in Dynamic Multi-Obstacle Environments","display_name":"Safety-Critical Control with Saliency Detection for Mobile Robots in Dynamic Multi-Obstacle Environments","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925229","doi":"https://doi.org/10.1109/icra55743.2025.11128721"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128721","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":"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":null,"display_name":"Yu Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100698206","display_name":"Long Wen","orcid":"https://orcid.org/0009-0009-3515-1814"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Long Wen","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008680911","display_name":"Lin Hong","orcid":"https://orcid.org/0000-0002-8117-7427"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Hong","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen),Department of Mechanical Engineering and Automation,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen),Department of Mechanical Engineering and Automation,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111122200","display_name":"Liding Zhang","orcid":"https://orcid.org/0009-0007-0119-706X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Liding Zhang","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038028275","display_name":"Qun Guo","orcid":"https://orcid.org/0000-0002-5810-9151"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Qun Guo","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101633942","display_name":"Shixin Li","orcid":"https://orcid.org/0000-0001-6358-3061"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shixin Li","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060444894","display_name":"Zhenshan Bing","orcid":"https://orcid.org/0000-0002-0896-2517"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zhenshan Bing","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7756","last_page":"7762"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9549000263214111,"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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9549000263214111,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.901199996471405,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/mobile-robot","display_name":"Mobile robot","score":0.7380391955375671},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7170892953872681},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7097589373588562},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.507323682308197},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4202693700790405},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39321252703666687},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35668081045150757},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3509334325790405}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7380391955375671},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7170892953872681},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7097589373588562},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.507323682308197},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4202693700790405},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39321252703666687},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35668081045150757},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3509334325790405},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128721","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1938386764","https://openalex.org/W2099893201","https://openalex.org/W2103120971","https://openalex.org/W2211996548","https://openalex.org/W2222512263","https://openalex.org/W2962788405","https://openalex.org/W2963105220","https://openalex.org/W2963238245","https://openalex.org/W2963627347","https://openalex.org/W2965638232","https://openalex.org/W2990201021","https://openalex.org/W3049045914","https://openalex.org/W3130126751","https://openalex.org/W3135971978","https://openalex.org/W3145762295","https://openalex.org/W4281776977","https://openalex.org/W4283785867","https://openalex.org/W4312561363","https://openalex.org/W4313173809","https://openalex.org/W4383108357","https://openalex.org/W4386085840","https://openalex.org/W4386432062","https://openalex.org/W4388065116","https://openalex.org/W4389879652","https://openalex.org/W4390224260","https://openalex.org/W4405786385","https://openalex.org/W4406079894"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W4245435724","https://openalex.org/W2055301889","https://openalex.org/W2281433634","https://openalex.org/W2122871747","https://openalex.org/W2143648480","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0,106,148],"paper":[1],"proposes":[2],"a":[3],"novel":[4],"dual-filter":[5],"architecture":[6],"utilizing":[7,119],"RGB-D":[8],"camera":[9],"data":[10,60],"and":[11,32,57,131,137,198,205],"dynamic":[12,33,132],"control":[13],"barrier":[14],"functions":[15],"(D-CBFs)":[16],"for":[17,65,72,101,144,155],"real-time":[18,63,191],"obstacle":[19,74,145,163],"avoidance":[20],"in":[21,75],"unstructured":[22],"environments.":[23],"The":[24],"proposed":[25,121],"method":[26,100],"efficiently":[27],"handles":[28],"static,":[29],"suddenly":[30],"appearing,":[31],"obstacles,":[34],"maintaining":[35],"consistent":[36],"computational":[37,159],"performance":[38],"across":[39,223],"diverse":[40],"scenarios.":[41,226],"To":[42,82],"achieve":[43],"this,":[44],"two":[45],"key":[46],"challenges":[47],"must":[48],"be":[49],"addressed.":[50],"First,":[51],"the":[52,88,120,166,181,195],"substantial":[53],"volume":[54],"of":[55,90],"pixel":[56],"depth":[58],"map":[59],"requires":[61],"robust,":[62],"processing":[64],"efficient":[66,151],"D-CBF":[67,153],"construction.":[68],"Second,":[69],"constructing":[70],"D-CBFs":[71,188],"each":[73,156],"multi-obstacle":[76],"scenarios":[77],"increases":[78],"optimization":[79],"solver":[80],"time.":[81],"address":[83],"these":[84],"challenges,":[85],"we":[86],"adapt":[87],"concept":[89],"salient":[91],"object":[92],"detection":[93],"(SOD),":[94],"proposing":[95],"an":[96,212],"enhanced":[97,122],"FastSOD":[98],"(E-FastSOD)":[99],"rapid":[102],"risk":[103],"area":[104],"identification.":[105],"approach":[107],"rapidly":[108],"filters":[109],"out":[110],"low-risk":[111],"areas,":[112],"while":[113,220],"high-risk":[114],"regions":[115],"are":[116],"mathematically":[117],"represented":[118],"minimal":[123],"bounding":[124],"circle":[125],"(E-MBC)":[126],"technique.":[127],"We":[128,193],"differentiate":[129],"static":[130],"obstacles":[133],"by":[134],"comparing":[135],"current":[136],"previous":[138],"MBC":[139],"states,":[140],"employing":[141],"Kalman":[142],"filtering":[143],"state":[146],"prediction.":[147],"setup":[149],"enables":[150],"online":[152],"construction":[154],"MBC,":[157],"balancing":[158],"speed":[160],"with":[161],"accurate":[162],"representation.":[164],"Subsequently,":[165],"second":[167],"filter":[168],"establishes":[169],"buffer":[170],"zones":[171,180],"around":[172],"established":[173],"D-CBFs,":[174],"activating":[175],"only":[176],"those":[177],"corresponding":[178],"to":[179,189,217],"robot":[182],"actually":[183],"enters,":[184],"rather":[185],"than":[186],"all":[187],"increase":[190],"performance.":[192],"prove":[194],"system's":[196],"safety":[197,222],"asymptotic":[199],"stabilization":[200],"under":[201],"this":[202],"architecture.":[203],"Simulated":[204],"real-world":[206],"experiments":[207],"validate":[208],"our":[209],"method,":[210],"demonstrating":[211],"equipped":[213],"mobile":[214],"robot's":[215],"ability":[216],"accomplish":[218],"tasks":[219],"ensuring":[221],"diverse,":[224],"unknown":[225]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-21T08:15:58.654021","created_date":"2025-10-10T00:00:00"}