{"id":"https://openalex.org/W4401414090","doi":"https://doi.org/10.1109/icra57147.2024.10610891","title":"Collision Detection and Avoidance for Black Box Multi-Robot Navigation","display_name":"Collision Detection and Avoidance for Black Box Multi-Robot Navigation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414090","doi":"https://doi.org/10.1109/icra57147.2024.10610891"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610891","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/A5074686900","display_name":"Sara Ayoubi","orcid":"https://orcid.org/0000-0001-8160-4524"},"institutions":[{"id":"https://openalex.org/I4210149358","display_name":"Nokia (France)","ror":"https://ror.org/04kwfkk85","country_code":"FR","type":"company","lineage":["https://openalex.org/I2738502077","https://openalex.org/I4210149358"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Sara Ayoubi","raw_affiliation_strings":["Nokia Bell Labs,France"],"affiliations":[{"raw_affiliation_string":"Nokia Bell Labs,France","institution_ids":["https://openalex.org/I4210149358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054202302","display_name":"Ilija Had\u017ei\u0107","orcid":"https://orcid.org/0000-0002-7996-6398"},"institutions":[{"id":"https://openalex.org/I72090969","display_name":"Nokia (United States)","ror":"https://ror.org/038km2573","country_code":"US","type":"company","lineage":["https://openalex.org/I2738502077","https://openalex.org/I72090969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ilija Had\u017ei\u0107","raw_affiliation_strings":["Nokia Bell Labs,USA"],"affiliations":[{"raw_affiliation_string":"Nokia Bell Labs,USA","institution_ids":["https://openalex.org/I72090969"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029552750","display_name":"Lou Sala\u00fcn","orcid":"https://orcid.org/0000-0003-0522-0435"},"institutions":[{"id":"https://openalex.org/I4210149358","display_name":"Nokia (France)","ror":"https://ror.org/04kwfkk85","country_code":"FR","type":"company","lineage":["https://openalex.org/I2738502077","https://openalex.org/I4210149358"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Lou Sala\u00fcn","raw_affiliation_strings":["Nokia Bell Labs,France"],"affiliations":[{"raw_affiliation_string":"Nokia Bell Labs,France","institution_ids":["https://openalex.org/I4210149358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070693243","display_name":"Antonio Massaro","orcid":"https://orcid.org/0000-0003-2002-8687"},"institutions":[{"id":"https://openalex.org/I4210149358","display_name":"Nokia (France)","ror":"https://ror.org/04kwfkk85","country_code":"FR","type":"company","lineage":["https://openalex.org/I2738502077","https://openalex.org/I4210149358"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antonio Massaro","raw_affiliation_strings":["Nokia Bell Labs,France"],"affiliations":[{"raw_affiliation_string":"Nokia Bell Labs,France","institution_ids":["https://openalex.org/I4210149358"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074686900"],"corresponding_institution_ids":["https://openalex.org/I4210149358"],"apc_list":null,"apc_paid":null,"fwci":0.2632,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.51936922,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"12319","last_page":"12325"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10653","display_name":"Robot Manipulation and Learning","score":0.995199978351593,"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/collision-avoidance","display_name":"Collision avoidance","score":0.8096212148666382},{"id":"https://openalex.org/keywords/black-box","display_name":"Black box","score":0.6834320425987244},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6524674296379089},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5999594926834106},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5192844271659851},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5136520266532898},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4682416021823883},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.38222813606262207},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.16405674815177917}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8096212148666382},{"id":"https://openalex.org/C94966114","wikidata":"https://www.wikidata.org/wiki/Q29256","display_name":"Black box","level":2,"score":0.6834320425987244},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6524674296379089},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5999594926834106},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5192844271659851},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5136520266532898},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4682416021823883},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.38222813606262207},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.16405674815177917}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610891","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610891","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":22,"referenced_works":["https://openalex.org/W178419168","https://openalex.org/W192919555","https://openalex.org/W1560021816","https://openalex.org/W2002440441","https://openalex.org/W2116311127","https://openalex.org/W2117266227","https://openalex.org/W2130763585","https://openalex.org/W2142943472","https://openalex.org/W2167340365","https://openalex.org/W2171666055","https://openalex.org/W2797537646","https://openalex.org/W2810925021","https://openalex.org/W2963821308","https://openalex.org/W3130631955","https://openalex.org/W3131237651","https://openalex.org/W3139047046","https://openalex.org/W3184863315","https://openalex.org/W3209562766","https://openalex.org/W4220817121","https://openalex.org/W6600296044","https://openalex.org/W6780226713","https://openalex.org/W6799223928"],"related_works":["https://openalex.org/W2889566344","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W2165574943","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"To":[0],"date,":[1],"commercial":[2],"industrial":[3,94],"robots":[4,14,17,28,60,139],"only":[5],"provide":[6],"multi-robot":[7],"coordination":[8,52,80],"for":[9,61],"their":[10],"own":[11],"fleet":[12,56],"of":[13,57,65,86,132,165],"and":[15,95,136],"treat":[16],"from":[18,29,111],"other":[19],"vendors":[20,31],"as":[21],"general":[22],"obstacles.":[23],"The":[24],"ability":[25,143],"to":[26,32,40,108,140,144,161],"enable":[27,145],"different":[30,149],"co-exist":[33],"in":[34,134,148],"the":[35,46,63,66,79,163],"same":[36],"space":[37],"is":[38],"crucial":[39],"prevent":[41],"vendor":[42],"lock-in.":[43],"We":[44,128,151],"present":[45],"first":[47],"decentralized":[48],"system":[49],"that":[50,88],"achieves":[51,78],"between":[53],"a":[54,103,120,130],"heterogeneous":[55],"black":[58],"box":[59],"which":[62,74],"internals":[64],"navigation":[67,147],"stack":[68],"are":[69,89,117],"presumed":[70],"unmodifiable.":[71],"Our":[72],"system,":[73],"we":[75],"call":[76],"CODAK,":[77],"by":[81],"relying":[82],"on":[83,92],"minimum":[84],"set":[85],"interfaces":[87],"commonly":[90],"available":[91],"most":[93],"service":[96],"robots.":[97],"For":[98],"each":[99],"robot,":[100],"CODAK":[101,155],"uses":[102],"trained":[104],"recurrent":[105],"neural":[106],"network":[107],"anticipate":[109],"collisions":[110,116],"externally":[112],"observable":[113],"metrics.":[114],"Anticipated":[115],"avoided":[118],"using":[119],"simple,":[121],"but":[122],"yet":[123],"effective,":[124],"concurrency":[125],"control":[126],"scheme.":[127],"run":[129],"series":[131],"experiments":[133],"simulation":[135],"with":[137,156],"real":[138],"demonstrate":[141],"CODAK\u2019s":[142],"safe":[146],"environments.":[150],"also":[152],"experimentally":[153],"compare":[154],"previously":[157],"published":[158],"white-box":[159],"solutions":[160],"evaluate":[162],"penalty":[164],"black-box":[166],"constraint.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}