{"id":"https://openalex.org/W4413926026","doi":"https://doi.org/10.1109/icra55743.2025.11128772","title":"Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points","display_name":"Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926026","doi":"https://doi.org/10.1109/icra55743.2025.11128772"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128772","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":true,"oa_status":"green","oa_url":"https://pure.tue.nl/ws/files/371275451/Non-Conservative_Obstacle_Avoidance_for_Multi-Body_Systems_Leveraging_Convex_Hulls_and_Predicted_Closest_Points.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114338990","display_name":"Lotte Rassaerts","orcid":null},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Lotte Rassaerts","raw_affiliation_strings":["Eindhoven University of Technology,The Netherlands"],"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114338991","display_name":"Eke Suichies","orcid":null},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Eke Suichies","raw_affiliation_strings":["Eindhoven University of Technology,The Netherlands"],"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093192009","display_name":"Bram van de Vrande","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122849","display_name":"Philips (Netherlands)","ror":"https://ror.org/02p2bgp27","country_code":"NL","type":"company","lineage":["https://openalex.org/I4210122849"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Bram van de Vrande","raw_affiliation_strings":["Philips IGT Systems Mechatronics,The Netherlands"],"affiliations":[{"raw_affiliation_string":"Philips IGT Systems Mechatronics,The Netherlands","institution_ids":["https://openalex.org/I4210122849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046674319","display_name":"Marco Alonso","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122849","display_name":"Philips (Netherlands)","ror":"https://ror.org/02p2bgp27","country_code":"NL","type":"company","lineage":["https://openalex.org/I4210122849"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Marco Alonso","raw_affiliation_strings":["Philips IGT Systems Mechatronics,The Netherlands"],"affiliations":[{"raw_affiliation_string":"Philips IGT Systems Mechatronics,The Netherlands","institution_ids":["https://openalex.org/I4210122849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093192008","display_name":"Bas Meere","orcid":null},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Bas Meere","raw_affiliation_strings":["Eindhoven University of Technology,The Netherlands"],"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083231405","display_name":"M. S. Chong","orcid":"https://orcid.org/0000-0002-7324-1660"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Michelle Chong","raw_affiliation_strings":["Eindhoven University of Technology,The Netherlands"],"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069500372","display_name":"Elena Torta","orcid":"https://orcid.org/0000-0001-9198-1374"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Elena Torta","raw_affiliation_strings":["Eindhoven University of Technology,The Netherlands"],"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5114338990"],"corresponding_institution_ids":["https://openalex.org/I83019370"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29219484,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3007","last_page":"3014"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.923799991607666,"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"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.923799991607666,"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/convex-hull","display_name":"Convex hull","score":0.67798912525177},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6502801179885864},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6104654669761658},{"id":"https://openalex.org/keywords/convex-body","display_name":"Convex body","score":0.5919588804244995},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5204377770423889},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5033316016197205},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4457729160785675},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3270484209060669},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3151058554649353},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2967585325241089},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2083365023136139},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12156981229782104},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10631987452507019},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10287812352180481},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08835288882255554}],"concepts":[{"id":"https://openalex.org/C206194317","wikidata":"https://www.wikidata.org/wiki/Q1138624","display_name":"Convex hull","level":3,"score":0.67798912525177},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6502801179885864},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6104654669761658},{"id":"https://openalex.org/C134912446","wikidata":"https://www.wikidata.org/wiki/Q5166516","display_name":"Convex body","level":4,"score":0.5919588804244995},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5204377770423889},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5033316016197205},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4457729160785675},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3270484209060669},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3151058554649353},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2967585325241089},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2083365023136139},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12156981229782104},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10631987452507019},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10287812352180481},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08835288882255554},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra55743.2025.11128772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128772","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"},{"id":"pmh:oai:pure.tue.nl:publications/4a835490-6cb5-44e2-a6a7-59e231ddba51","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/4a835490-6cb5-44e2-a6a7-59e231ddba51","pdf_url":"https://pure.tue.nl/ws/files/371275451/Non-Conservative_Obstacle_Avoidance_for_Multi-Body_Systems_Leveraging_Convex_Hulls_and_Predicted_Closest_Points.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rassaerts, L, Suichies, E, van de Vrande, B, Alonso, M, Meere, B, Chong, M & Torta, E 2025, Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points. in C Ott, H Admoni, S Behnke, S Bogdan, A Bolopion, Y Choi, F Ficuciello, N Gans, C Gosselin, K Harada, E Kayacan, H J Kim, S Leutenegger, Z Liu, P Maiolino, L Marques, T Matsubara, A Mavromatti, M Minor, J O'Kane, H W Park, I Rekleitis, F Renda, E Ricci, L D Riek, L Sabattini, S Shen, Y Sun, P-B Wieber, K Yamane & J Yu (eds), 2025 IEEE International Conference on Robotics and Automation, ICRA 2025., 11128772, Institute of Electrical and Electronics Engineers, pp. 3007-3014, 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, United States, 19/05/25. https://doi.org/10.1109/ICRA55743.2025.11128772","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.tue.nl:publications/4a835490-6cb5-44e2-a6a7-59e231ddba51","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/4a835490-6cb5-44e2-a6a7-59e231ddba51","pdf_url":"https://pure.tue.nl/ws/files/371275451/Non-Conservative_Obstacle_Avoidance_for_Multi-Body_Systems_Leveraging_Convex_Hulls_and_Predicted_Closest_Points.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rassaerts, L, Suichies, E, van de Vrande, B, Alonso, M, Meere, B, Chong, M & Torta, E 2025, Non-Conservative Obstacle Avoidance for Multi-Body Systems Leveraging Convex Hulls and Predicted Closest Points. in C Ott, H Admoni, S Behnke, S Bogdan, A Bolopion, Y Choi, F Ficuciello, N Gans, C Gosselin, K Harada, E Kayacan, H J Kim, S Leutenegger, Z Liu, P Maiolino, L Marques, T Matsubara, A Mavromatti, M Minor, J O'Kane, H W Park, I Rekleitis, F Renda, E Ricci, L D Riek, L Sabattini, S Shen, Y Sun, P-B Wieber, K Yamane & J Yu (eds), 2025 IEEE International Conference on Robotics and Automation, ICRA 2025., 11128772, Institute of Electrical and Electronics Engineers, pp. 3007-3014, 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, United States, 19/05/25. https://doi.org/10.1109/ICRA55743.2025.11128772","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4413926026.pdf","grobid_xml":"https://content.openalex.org/works/W4413926026.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1982547038","https://openalex.org/W1983687767","https://openalex.org/W2003677943","https://openalex.org/W2013439434","https://openalex.org/W2095905067","https://openalex.org/W2129668160","https://openalex.org/W2142224528","https://openalex.org/W2162440460","https://openalex.org/W2166316739","https://openalex.org/W2202770087","https://openalex.org/W2546089398","https://openalex.org/W2607968634","https://openalex.org/W2770213923","https://openalex.org/W2783282453","https://openalex.org/W2842089854","https://openalex.org/W2967099712","https://openalex.org/W3015470607","https://openalex.org/W3032127812","https://openalex.org/W3042402313","https://openalex.org/W3046037537","https://openalex.org/W3199893308","https://openalex.org/W4225677151","https://openalex.org/W4229456580","https://openalex.org/W4231326807","https://openalex.org/W4285102174","https://openalex.org/W4285209157","https://openalex.org/W4327571609","https://openalex.org/W4366457166","https://openalex.org/W4383108757","https://openalex.org/W4383108947","https://openalex.org/W4401414457","https://openalex.org/W4401415015"],"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/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,17],"novel":[4],"approach":[5],"that":[6],"integrates":[7],"future":[8],"closest":[9,25,34],"point":[10,26],"predictions":[11],"into":[12],"the":[13,60],"distance":[14,27,64],"constraints":[15],"of":[16],"collision":[18,40],"avoidance":[19],"controller,":[20],"leveraging":[21],"convex":[22],"hulls":[23],"with":[24],"calculations.":[28],"By":[29],"addressing":[30],"abrupt":[31],"shifts":[32],"in":[33],"points,":[35],"this":[36],"method":[37],"effectively":[38],"reduces":[39],"risks":[41],"and":[42,53,57,69],"enhances":[43],"controller":[44],"performance.":[45],"Applied":[46],"to":[47],"an":[48],"Image":[49],"Guided":[50],"Therapy":[51],"robot":[52],"validated":[54],"through":[55],"simulations":[56],"user":[58],"experiments,":[59],"framework":[61],"demonstrates":[62],"improved":[63],"prediction":[65],"accuracy,":[66],"smoother":[67],"trajectories,":[68],"safer":[70],"navigation":[71],"near":[72],"obstacles.":[73]},"counts_by_year":[],"updated_date":"2026-03-17T17:19:04.345684","created_date":"2025-10-10T00:00:00"}