{"id":"https://openalex.org/W4403048453","doi":"https://doi.org/10.1109/icra55743.2025.11128856","title":"Collision Avoidance in Model Predictive Control Using Velocity Damper","display_name":"Collision Avoidance in Model Predictive Control Using Velocity Damper","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4403048453","doi":"https://doi.org/10.1109/icra55743.2025.11128856"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128856","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://laas.hal.science/hal-04707324/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093836337","display_name":"Arthur Haffemayer","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I4210095836","display_name":"Continental (France)","ror":"https://ror.org/00nahqd12","country_code":"FR","type":"company","lineage":["https://openalex.org/I147869694","https://openalex.org/I4210095836"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Arthur Haffemayer","raw_affiliation_strings":["LAAS-CNRS, Universit&#x00E9; de Toulouse, CNRS,Toulouse,France","Continental Automotive France [Toulouse] (1 avenue Paul Ourliac, 31036 Toulouse - France)","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","UT3 - Universit\u00e9 Toulouse III - Paul Sabatier (118 route de Narbonne - 31062 Toulouse - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit&#x00E9; de Toulouse, CNRS,Toulouse,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"Continental Automotive France [Toulouse] (1 avenue Paul Ourliac, 31036 Toulouse - France)","institution_ids":["https://openalex.org/I4210095836"]},{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]},{"raw_affiliation_string":"UT3 - Universit\u00e9 Toulouse III - Paul Sabatier (118 route de Narbonne - 31062 Toulouse - France)","institution_ids":["https://openalex.org/I134560555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007294964","display_name":"Armand Jordana","orcid":"https://orcid.org/0000-0002-5552-9898"},"institutions":[{"id":"https://openalex.org/I4210133016","display_name":"Motion Control (United States)","ror":"https://ror.org/03yjg6e54","country_code":"US","type":"company","lineage":["https://openalex.org/I4210133016"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Armand Jordana","raw_affiliation_strings":["New York University,Machines in Motion Laboratory,USA","MiM - Machines in Motion Laboratory, New York University, USA (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New York University,Machines in Motion Laboratory,USA","institution_ids":["https://openalex.org/I4210133016","https://openalex.org/I57206974"]},{"raw_affiliation_string":"MiM - Machines in Motion Laboratory, New York University, USA (United States)","institution_ids":["https://openalex.org/I4210133016","https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107692322","display_name":"Ludovic de Matte\u00efs","orcid":"https://orcid.org/0000-0002-2916-5410"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ludovic De Matte\u00efs","raw_affiliation_strings":["LAAS-CNRS, Universit&#x00E9; de Toulouse, CNRS,Toulouse,France","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit&#x00E9; de Toulouse, CNRS,Toulouse,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836972","display_name":"Krzysztof P. Wojciechowski","orcid":"https://orcid.org/0000-0002-6747-023X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Krzysztof Wojciechowski","raw_affiliation_strings":["LAAS-CNRS, Universit&#x00E9; de Toulouse, CNRS,Toulouse,France","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit&#x00E9; de Toulouse, CNRS,Toulouse,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ludovic Righetti","orcid":null},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I4210098964","display_name":"Toulouse Mathematics Institute","ror":null,"country_code":"FR","type":null,"lineage":["https://openalex.org/I4210098964"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ludovic Righetti","raw_affiliation_strings":["Artificial and Natural Intelligence Toulouse Institute,France","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial and Natural Intelligence Toulouse Institute,France","institution_ids":["https://openalex.org/I4210098964"]},{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091327522","display_name":"Florent Lamiraux","orcid":"https://orcid.org/0000-0002-8757-567X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Florent Lamiraux","raw_affiliation_strings":["LAAS-CNRS, Universit&#x00E9; de Toulouse, CNRS,Toulouse,France","UT3 - Universit\u00e9 Toulouse III - Paul Sabatier (118 route de Narbonne - 31062 Toulouse - France)","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit&#x00E9; de Toulouse, CNRS,Toulouse,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"UT3 - Universit\u00e9 Toulouse III - Paul Sabatier (118 route de Narbonne - 31062 Toulouse - France)","institution_ids":["https://openalex.org/I134560555"]},{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046876471","display_name":"Nicolas Mansard","orcid":"https://orcid.org/0000-0002-8090-0601"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Mansard","raw_affiliation_strings":["LAAS-CNRS, Universit&#x00E9; de Toulouse, CNRS,Toulouse,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit&#x00E9; de Toulouse, CNRS,Toulouse,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5093836337"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I190497903","https://openalex.org/I4210095836"],"apc_list":null,"apc_paid":null,"fwci":0.5772,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.62069315,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"16140","last_page":"16146"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9980999827384949,"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"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9980999827384949,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9894999861717224,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9861000180244446,"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/collision-avoidance","display_name":"Collision avoidance","score":0.8101673126220703},{"id":"https://openalex.org/keywords/damper","display_name":"Damper","score":0.6519174575805664},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5606428980827332},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5209051966667175},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49911928176879883},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4700535535812378},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3596819043159485},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27570849657058716},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.19495880603790283},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16673779487609863},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.11644789576530457}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8101673126220703},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.6519174575805664},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5606428980827332},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5209051966667175},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49911928176879883},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4700535535812378},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3596819043159485},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27570849657058716},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.19495880603790283},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16673779487609863},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.11644789576530457}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra55743.2025.11128856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128856","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:HAL:hal-04707324v1","is_oa":true,"landing_page_url":"https://laas.hal.science/hal-04707324v1/file/ICRA_2025__1_-11.pdf","pdf_url":"https://laas.hal.science/hal-04707324/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"https://laas.hal.science/hal-04707324","raw_type":"info:eu-repo/semantics/preprint"},{"id":"pmh:oai:HAL:hal-04707324v2","is_oa":true,"landing_page_url":"https://laas.hal.science/hal-04707324v2/document","pdf_url":"https://laas.hal.science/hal-04707324v2/file/ICRA_2025__1_-12.pdf","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"2024","raw_type":"Preprints, Working Papers, ..."},{"id":"pmh:oai:HAL:hal-04707324v3","is_oa":false,"landing_page_url":"https://laas.hal.science/hal-04707324","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA), May 2025, Atlanta, United States. pp.16140-16146, &#x27E8;10.1109/ICRA55743.2025.11128856&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04707324v1","is_oa":true,"landing_page_url":"https://laas.hal.science/hal-04707324v1/file/ICRA_2025__1_-11.pdf","pdf_url":"https://laas.hal.science/hal-04707324/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"https://laas.hal.science/hal-04707324","raw_type":"info:eu-repo/semantics/preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.6899999976158142,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G1372612853","display_name":null,"funder_award_id":"2026479,2222815,2315396","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G1938070154","display_name":null,"funder_award_id":"ANR-19-P3IA-0004","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G4072245167","display_name":null,"funder_award_id":"2315396","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6533756338","display_name":null,"funder_award_id":"2222815","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6895026204","display_name":"Numerically efficient reinforcement learning for constrained systems with super-linear convergence","funder_award_id":"ANR-23-CE94-0004","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G6997425621","display_name":null,"funder_award_id":"2026479","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8318455765","display_name":null,"funder_award_id":"ANR-19","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4403048453.pdf"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1763528081","https://openalex.org/W2040062274","https://openalex.org/W2050679095","https://openalex.org/W2099893201","https://openalex.org/W2104906962","https://openalex.org/W2141664020","https://openalex.org/W2142224528","https://openalex.org/W2152512906","https://openalex.org/W2163650400","https://openalex.org/W2166756487","https://openalex.org/W2177274602","https://openalex.org/W2336416123","https://openalex.org/W2410617946","https://openalex.org/W2524241275","https://openalex.org/W2546089398","https://openalex.org/W2883539312","https://openalex.org/W2906487027","https://openalex.org/W2909723455","https://openalex.org/W2963572779","https://openalex.org/W2964222556","https://openalex.org/W3081791272","https://openalex.org/W3206308448","https://openalex.org/W4211147054","https://openalex.org/W4250831451","https://openalex.org/W4285806152","https://openalex.org/W4298014976","https://openalex.org/W4313562870","https://openalex.org/W4383172031","https://openalex.org/W4397555767","https://openalex.org/W4412939353"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2744870258","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4317391030","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W2556120871"],"abstract_inverted_index":{"<div>":[0],"We":[1],"propose":[2],"an":[3],"advanced":[4],"method":[5],"for":[6],"controlling":[7],"the":[8,39,74],"motion":[9],"of":[10],"a":[11,22,50,58,66,84],"manipulator":[12],"robot":[13,88],"with":[14],"strict":[15],"collision":[16,96],"avoidance":[17,97],"in":[18],"dynamic":[19,99],"environments,":[20],"leveraging":[21],"velocity":[23,40],"damper":[24,41],"constraint.":[25],"Unlike":[26],"conventional":[27],"distance-based":[28],"constraints,":[29],"which":[30],"tend":[31],"to":[32,36,73,103],"saturate":[33],"near":[34],"obstacles":[35],"reach":[37],"optimality,":[38],"constraint":[42,54,68],"considers":[43],"both":[44],"distance":[45],"and":[46,63,89,101],"relative":[47],"velocity,":[48],"ensuring":[49],"safer":[51],"separation.":[52],"This":[53],"is":[55],"incorporated":[56],"into":[57],"model":[59],"predictive":[60],"control":[61],"framework":[62],"enforced":[64],"as":[65],"hard":[67],"through":[69,91],"analytical":[70],"derivatives":[71],"supplied":[72],"numerical":[75],"solver.":[76],"The":[77],"approach":[78],"has":[79],"been":[80],"fully":[81],"implemented":[82],"on":[83],"Franka":[85],"Emika":[86],"Panda":[87],"validated":[90],"experimental":[92],"trials,":[93],"demonstrating":[94],"effective":[95],"during":[98],"tasks":[100],"robustness":[102],"unmodeled":[104],"disturbances.":[105],"An":[106],"efficient":[107],"open-source":[108],"implementation":[109],"along":[110],"examples":[111],"are":[112],"provided":[113],"here:":[114],"https://gepettoweb.laas.fr/articles/":[115],"haffemayer2025.html.":[116],"</div>":[117]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}
