{"id":"https://openalex.org/W4401416055","doi":"https://doi.org/10.1109/icra57147.2024.10610871","title":"GPU-Accelerated Optimization-Based Collision Avoidance","display_name":"GPU-Accelerated Optimization-Based Collision Avoidance","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416055","doi":"https://doi.org/10.1109/icra57147.2024.10610871"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610871","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610871","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5102781569","display_name":"Zeming Wu","orcid":"https://orcid.org/0009-0004-8751-6938"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zeming Wu","raw_affiliation_strings":["Tongji University,Department of Control Science and Engineering,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Tongji University,Department of Control Science and Engineering,Shanghai,China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040673729","display_name":"Zhuping Wang","orcid":"https://orcid.org/0000-0002-0334-4082"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuping Wang","raw_affiliation_strings":["Tongji University,Department of Control Science and Engineering,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Tongji University,Department of Control Science and Engineering,Shanghai,China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109113787","display_name":"Hao Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Zhang","raw_affiliation_strings":["Tongji University,Department of Control Science and Engineering,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Tongji University,Department of Control Science and Engineering,Shanghai,China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102781569"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":1.0526,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.77688648,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7561","last_page":"7567"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9986000061035156,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9904999732971191,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.745650589466095},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7317293286323547},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5046054124832153},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.4094799757003784},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.10765254497528076}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.745650589466095},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7317293286323547},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5046054124832153},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.4094799757003784},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.10765254497528076}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610871","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610871","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":20,"referenced_works":["https://openalex.org/W2019965290","https://openalex.org/W2136207702","https://openalex.org/W2142224528","https://openalex.org/W2161819990","https://openalex.org/W2168442106","https://openalex.org/W2587415290","https://openalex.org/W2615547864","https://openalex.org/W2792573551","https://openalex.org/W2963249250","https://openalex.org/W3005907094","https://openalex.org/W3015470607","https://openalex.org/W3135798748","https://openalex.org/W3197234345","https://openalex.org/W3199091020","https://openalex.org/W3202883604","https://openalex.org/W4229007520","https://openalex.org/W4292363360","https://openalex.org/W4319069051","https://openalex.org/W4383108757","https://openalex.org/W4383108947"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2889566344","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2390279801","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3],"GPU-accelerated":[4],"optimization":[5,53],"framework":[6],"for":[7],"collision":[8,30,38,56],"avoidance":[9,31,57],"problems":[10,54],"where":[11],"the":[12,16,22,41,50,68,97],"controlled":[13],"objects":[14],"and":[15,40,101],"obstacles":[17],"can":[18,58,81],"be":[19,59,82],"modeled":[20],"as":[21],"finite":[23],"union":[24],"of":[25,44,55,70,74],"convex":[26,45],"polyhedra.":[27],"A":[28],"novel":[29],"constraint":[32],"is":[33],"proposed":[34,98],"based":[35],"on":[36],"scale-based":[37],"detection":[39],"strong":[42],"duality":[43],"optimization.":[46],"Under":[47],"this":[48],"constraint,":[49],"high-dimensional":[51],"non-convex":[52],"decomposed":[60],"into":[61],"several":[62],"low-dimensional":[63,79],"quadratic":[64],"programmings":[65],"(QPs)":[66],"following":[67],"paradigm":[69],"alternating":[71],"direction":[72],"method":[73],"multipliers":[75],"(ADMM).":[76],"Furthermore,":[77],"these":[78],"QPs":[80],"solved":[83],"parallel":[84],"with":[85],"GPUs,":[86],"significantly":[87],"reducing":[88],"computational":[89],"time.":[90],"High-fidelity":[91],"simulations":[92],"are":[93],"conducted":[94],"to":[95],"validate":[96],"method\u2019s":[99],"effectiveness":[100],"practicality.":[102]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}