{"id":"https://openalex.org/W2097154662","doi":"https://doi.org/10.1109/irds.2002.1041456","title":"A tractable convergent dynamic window approach to obstacle avoidance","display_name":"A tractable convergent dynamic window approach to obstacle avoidance","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2097154662","doi":"https://doi.org/10.1109/irds.2002.1041456","mag":"2097154662"},"language":"en","primary_location":{"id":"doi:10.1109/irds.2002.1041456","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041456","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","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/A5070754732","display_name":"Petter \u00d6gren","orcid":"https://orcid.org/0000-0002-7714-928X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"P. Ogren","raw_affiliation_strings":["Optimization and Systems Theory, Royal Institute of Technology, Stockholm, Sweden","Optimization & Syst. Theor., R. Inst. of Technol., Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Optimization and Systems Theory, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Optimization & Syst. Theor., R. Inst. of Technol., Stockholm, Sweden","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032304399","display_name":"Naomi Ehrich Leonard","orcid":"https://orcid.org/0000-0002-5328-3871"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N.E. Leonard","raw_affiliation_strings":["Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ, USA","Mechanical & Aerospace Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ, USA","institution_ids":["https://openalex.org/I20089843"]},{"raw_affiliation_string":"Mechanical & Aerospace Engineering","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6953,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.90528318,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"595","last_page":"600"},"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/T12158","display_name":"Guidance and Control Systems","score":0.9945999979972839,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9764000177383423,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6890161037445068},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6754103302955627},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.6341982483863831},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6240740418434143},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5567384958267212},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5386365056037903},{"id":"https://openalex.org/keywords/window","display_name":"Window (computing)","score":0.5122727751731873},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5012776851654053},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.48932120203971863},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4827350974082947},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.45595836639404297},{"id":"https://openalex.org/keywords/control-lyapunov-function","display_name":"Control-Lyapunov function","score":0.4231637716293335},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3980419337749481},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3791496157646179},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31111180782318115},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25740379095077515},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.2280210256576538},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18215924501419067},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14233431220054626},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08598741888999939},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.06447160243988037}],"concepts":[{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6890161037445068},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6754103302955627},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.6341982483863831},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6240740418434143},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5567384958267212},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5386365056037903},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.5122727751731873},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5012776851654053},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.48932120203971863},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4827350974082947},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.45595836639404297},{"id":"https://openalex.org/C201030206","wikidata":"https://www.wikidata.org/wiki/Q5165805","display_name":"Control-Lyapunov function","level":5,"score":0.4231637716293335},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3980419337749481},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3791496157646179},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31111180782318115},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25740379095077515},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.2280210256576538},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18215924501419067},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14233431220054626},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08598741888999939},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.06447160243988037},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C2777052490","wikidata":"https://www.wikidata.org/wiki/Q5072826","display_name":"Chaotic","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C191544260","wikidata":"https://www.wikidata.org/wiki/Q1238630","display_name":"Lyapunov exponent","level":3,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/irds.2002.1041456","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041456","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.118.4010","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.118.4010","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.princeton.edu/~naomi/iros02finalPP.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1963903137","https://openalex.org/W1978301848","https://openalex.org/W1988505764","https://openalex.org/W2110144538","https://openalex.org/W2117211893","https://openalex.org/W2131505299","https://openalex.org/W2163431256","https://openalex.org/W2169528473","https://openalex.org/W2494779131","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691","https://openalex.org/W2357323510"],"abstract_inverted_index":{"The":[0],"dynamic":[1,120,146],"window":[2,121,147],"approach":[3,122,148],"is":[4,24,58,150],"a":[5,59,72,87,93,106,110,142],"well":[6],"known":[7],"navigation":[8,112],"scheme":[9,47],"developed":[10],"by":[11,18,26,77,115,135],"Fox":[12],"et.":[13,137],"al.":[14,138],"(1997)":[15],"and":[16,20,28,105,123,128,152],"extended":[17],"Brock":[19],"Khatib":[21],"(1999).":[22],"It":[23],"safe":[25],"construction":[27],"has":[29,55],"been":[30,56],"shown":[31],"to":[32,49,108],"perform":[33],"very":[34],"efficiently":[35],"in":[36],"experimental":[37],"setups.":[38],"However,":[39],"one":[40],"can":[41],"construct":[42,109],"examples":[43],"where":[44],"the":[45,51,63,78,97,102,116,119,124,145],"proposed":[46],"fails":[48],"attain":[50],"goal":[52],"configuration.":[53],"What":[54],"lacking":[57],"theoretical":[60],"treatment":[61,73],"of":[62,96,101,144],"algorithm's":[64],"convergence":[65],"properties.":[66],"A":[67],"first":[68],"step":[69],"towards":[70],"such":[71],"was":[74],"previously":[75],"presented":[76],"authors":[79],"(2002).":[80],"Here":[81],"we":[82,140],"continue":[83],"that":[84,149],"work":[85],"with":[86],"computationally":[88],"tractable":[89,151],"algorithm":[90],"resulting":[91],"from":[92],"careful":[94],"discretization":[95],"optimal":[98],"control":[99,125,131],"problem":[100],"previous":[103],"paper":[104],"way":[107],"continuous":[111],"function.":[113],"Inspired":[114],"similarities":[117],"between":[118],"Lyapunov":[126],"function":[127],"receding":[129],"horizon":[130],"synthesis":[132],"put":[133],"forth":[134],"Primbs":[136],"(1999)":[139],"propose":[141],"version":[143],"provably":[153],"convergent.":[154]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}