{"id":"https://openalex.org/W4401417432","doi":"https://doi.org/10.1109/icra57147.2024.10611635","title":"Neural Potential Field for Obstacle-Aware Local Motion Planning","display_name":"Neural Potential Field for Obstacle-Aware Local Motion Planning","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417432","doi":"https://doi.org/10.1109/icra57147.2024.10611635"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611635","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/A5024710833","display_name":"Muhammad Alhaddad","orcid":"https://orcid.org/0000-0002-6801-5503"},"institutions":[{"id":"https://openalex.org/I153845743","display_name":"Moscow Institute of Physics and Technology","ror":"https://ror.org/00v0z9322","country_code":"RU","type":"education","lineage":["https://openalex.org/I153845743"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Muhammad Alhaddad","raw_affiliation_strings":["Moscow Institute of Physics and Technology,Center of Cognitive Modeling,Dolgoprudny,Russia,141701"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Moscow Institute of Physics and Technology,Center of Cognitive Modeling,Dolgoprudny,Russia,141701","institution_ids":["https://openalex.org/I153845743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038168921","display_name":"Konstantin Mironov","orcid":"https://orcid.org/0000-0002-4828-1345"},"institutions":[{"id":"https://openalex.org/I153845743","display_name":"Moscow Institute of Physics and Technology","ror":"https://ror.org/00v0z9322","country_code":"RU","type":"education","lineage":["https://openalex.org/I153845743"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Konstantin Mironov","raw_affiliation_strings":["Moscow Institute of Physics and Technology,Center of Cognitive Modeling,Dolgoprudny,Russia,141701"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Moscow Institute of Physics and Technology,Center of Cognitive Modeling,Dolgoprudny,Russia,141701","institution_ids":["https://openalex.org/I153845743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112465863","display_name":"Aleksey Staroverov","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aleksey Staroverov","raw_affiliation_strings":["Artificial Intelligence Research Institute,Moscow,Russia,105064"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Research Institute,Moscow,Russia,105064","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080806360","display_name":"Aleksandr I. Panov","orcid":"https://orcid.org/0000-0002-9747-3837"},"institutions":[{"id":"https://openalex.org/I153845743","display_name":"Moscow Institute of Physics and Technology","ror":"https://ror.org/00v0z9322","country_code":"RU","type":"education","lineage":["https://openalex.org/I153845743"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Aleksandr Panov","raw_affiliation_strings":["Moscow Institute of Physics and Technology,Center of Cognitive Modeling,Dolgoprudny,Russia,141701"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Moscow Institute of Physics and Technology,Center of Cognitive Modeling,Dolgoprudny,Russia,141701","institution_ids":["https://openalex.org/I153845743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3124,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.81400419,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"9313","last_page":"9320"},"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":0.9997000098228455,"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":0.9977999925613403,"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/potential-field","display_name":"Potential field","score":0.7391347289085388},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.731667697429657},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6072759032249451},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6066206693649292},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4992647171020508},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.479705274105072},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4760134816169739},{"id":"https://openalex.org/keywords/local-field-potential","display_name":"Local field potential","score":0.4328618049621582},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4173649549484253},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19606459140777588},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.1361292004585266},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11334571242332458},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09419387578964233},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07444372773170471}],"concepts":[{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.7391347289085388},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.731667697429657},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6072759032249451},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6066206693649292},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4992647171020508},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.479705274105072},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4760134816169739},{"id":"https://openalex.org/C117838684","wikidata":"https://www.wikidata.org/wiki/Q533483","display_name":"Local field potential","level":2,"score":0.4328618049621582},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4173649549484253},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19606459140777588},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.1361292004585266},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11334571242332458},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09419387578964233},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07444372773170471},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611635","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":[{"score":0.5699999928474426,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W1571530861","https://openalex.org/W1969483458","https://openalex.org/W1976930960","https://openalex.org/W1999131722","https://openalex.org/W2000359213","https://openalex.org/W2019965290","https://openalex.org/W2051617934","https://openalex.org/W2098519927","https://openalex.org/W2128990851","https://openalex.org/W2141789581","https://openalex.org/W2142224528","https://openalex.org/W2148361676","https://openalex.org/W2166316739","https://openalex.org/W2171266831","https://openalex.org/W2177274602","https://openalex.org/W2306644740","https://openalex.org/W2341848647","https://openalex.org/W2410617946","https://openalex.org/W2738778707","https://openalex.org/W2842089854","https://openalex.org/W2891263320","https://openalex.org/W2947663899","https://openalex.org/W3090255919","https://openalex.org/W3094502228","https://openalex.org/W3102121895","https://openalex.org/W3109585842","https://openalex.org/W3115050275","https://openalex.org/W3115389732","https://openalex.org/W3135872801","https://openalex.org/W3143901407","https://openalex.org/W3156470590","https://openalex.org/W3186317065","https://openalex.org/W3199197426","https://openalex.org/W3207305612","https://openalex.org/W4205550208","https://openalex.org/W4210985923","https://openalex.org/W4221165749","https://openalex.org/W4226063569","https://openalex.org/W4283700584","https://openalex.org/W4285102592","https://openalex.org/W4286372820","https://openalex.org/W4290712480","https://openalex.org/W4292993997","https://openalex.org/W4301958689","https://openalex.org/W4312253354","https://openalex.org/W4313318674","https://openalex.org/W4315606134","https://openalex.org/W4321380998","https://openalex.org/W4382202865","https://openalex.org/W4382202871","https://openalex.org/W4383108362","https://openalex.org/W4383108854","https://openalex.org/W4383109373","https://openalex.org/W4383171997","https://openalex.org/W4389650743","https://openalex.org/W4390678101","https://openalex.org/W6680234699","https://openalex.org/W6859004327"],"related_works":["https://openalex.org/W4388726836","https://openalex.org/W1965569281","https://openalex.org/W4324119413","https://openalex.org/W2062919732","https://openalex.org/W4319978806","https://openalex.org/W2546046681","https://openalex.org/W2893406334","https://openalex.org/W2394276631","https://openalex.org/W4282942842","https://openalex.org/W2893030767"],"abstract_inverted_index":{"Model":[0],"predictive":[1],"control":[2],"(MPC)":[3],"may":[4],"provide":[5],"local":[6,140],"motion":[7],"planning":[8],"for":[9,23,115],"mobile":[10],"robotic":[11],"platforms.":[12],"The":[13,61,112],"challenging":[14],"aspect":[15],"is":[16,74,136],"the":[17,24,28,70,133],"analytic":[18],"representation":[19],"of":[20,63,85,110,124],"collision":[21,50],"cost":[22,51],"case":[25],"when":[26],"both":[27],"obstacle":[29,56,96],"map":[30],"and":[31,58,98,151],"robot":[32,54,59,99],"footprint":[33],"are":[34,118],"arbitrary.":[35],"We":[36],"propose":[37],"a":[38,42,48,81,125],"Neural":[39],"Potential":[40],"Field:":[41],"neural":[43,91],"network":[44,116],"model":[45,65],"that":[46,132],"returns":[47],"differentiable":[49],"based":[52,120],"on":[53,121],"pose,":[55],"map,":[57],"footprint.":[60],"differentiability":[62],"our":[64,88],"allows":[66],"its":[67],"usage":[68],"within":[69],"MPC":[71],"solver.":[72],"It":[73],"computationally":[75],"hard":[76],"to":[77],"solve":[78],"problems":[79],"with":[80,138,145],"very":[82],"high":[83],"number":[84],"parameters.":[86],"Therefore,":[87],"architecture":[89],"includes":[90],"image":[92],"encoders,":[93],"which":[94,103],"transform":[95],"maps":[97],"footprints":[100],"into":[101],"embeddings,":[102],"reduce":[104],"problem":[105],"dimensionality":[106],"by":[107],"two":[108],"orders":[109],"magnitude.":[111],"reference":[113],"data":[114],"training":[117],"generated":[119],"algorithmic":[122],"calculation":[123],"signed":[126],"distance":[127,153],"function.":[128],"Comparative":[129],"experiments":[130],"showed":[131],"proposed":[134],"approach":[135],"comparable":[137,148],"existing":[139],"planners:":[141],"it":[142],"provides":[143],"trajectories":[144],"outperforming":[146],"smoothness,":[147],"path":[149],"length,":[150],"safe":[152],"from":[154],"obstacles.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}