{"id":"https://openalex.org/W2166052572","doi":"https://doi.org/10.1109/iros.2009.5354175","title":"Generalized velocity obstacles","display_name":"Generalized velocity obstacles","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2166052572","doi":"https://doi.org/10.1109/iros.2009.5354175","mag":"2166052572"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354175","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354175","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5020162100","display_name":"David A. Wilkie","orcid":"https://orcid.org/0000-0002-4237-0371"},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Wilkie","raw_affiliation_strings":["Department of Computer Science, College of Arts and Sciences, North Carolina State University, Chapel Hill, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, College of Arts and Sciences, North Carolina State University, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I137902535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108617083","display_name":"Jur van den Berg","orcid":null},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jur van den Berg","raw_affiliation_strings":["Department of Computer Science, College of Arts and Sciences, North Carolina State University, Chapel Hill, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, College of Arts and Sciences, North Carolina State University, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I137902535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004194238","display_name":"Dinesh Manocha","orcid":"https://orcid.org/0000-0001-7047-9801"},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["Department of Computer Science, College of Arts and Sciences, North Carolina State University, Chapel Hill, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, College of Arts and Sciences, North Carolina State University, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I137902535"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I137902535"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":244,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5573","last_page":"5578"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9954000115394592,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/obstacle","display_name":"Obstacle","score":0.8633298873901367},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7407591938972473},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7351186871528625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6456480622291565},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5814985036849976},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5437958240509033},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.43519628047943115},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4283156096935272},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4059072434902191},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3702038526535034},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36637187004089355},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3523510694503784},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34653741121292114},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33600372076034546},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24069562554359436},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21216905117034912},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13963377475738525},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09770333766937256},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07989072799682617}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8633298873901367},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7407591938972473},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7351186871528625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6456480622291565},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5814985036849976},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5437958240509033},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.43519628047943115},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4283156096935272},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4059072434902191},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3702038526535034},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36637187004089355},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3523510694503784},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34653741121292114},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33600372076034546},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24069562554359436},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21216905117034912},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13963377475738525},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09770333766937256},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07989072799682617},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2009.5354175","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354175","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.161.9381","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.161.9381","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www2.decf.berkeley.edu/~berg/IROS2009-2.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.190.8724","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.190.8724","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.unc.edu/%7Eberg/IROS2009-2.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":28,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1424654272","https://openalex.org/W1580535863","https://openalex.org/W1973400989","https://openalex.org/W1987629235","https://openalex.org/W2000790002","https://openalex.org/W2002440441","https://openalex.org/W2003835006","https://openalex.org/W2004815408","https://openalex.org/W2026089793","https://openalex.org/W2036016432","https://openalex.org/W2040384615","https://openalex.org/W2045403423","https://openalex.org/W2099593662","https://openalex.org/W2099919002","https://openalex.org/W2103120971","https://openalex.org/W2103869615","https://openalex.org/W2116547086","https://openalex.org/W2116842611","https://openalex.org/W2120794503","https://openalex.org/W2142943472","https://openalex.org/W2148970883","https://openalex.org/W2152365564","https://openalex.org/W2154780734","https://openalex.org/W2156142530","https://openalex.org/W2162726844","https://openalex.org/W2611243847","https://openalex.org/W6674861906"],"related_works":["https://openalex.org/W2023024008","https://openalex.org/W1911254468","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W2122735287","https://openalex.org/W2493438666","https://openalex.org/W2124341319","https://openalex.org/W2239658598"],"abstract_inverted_index":{"We":[0,13,63],"address":[1],"the":[2,34,39,57,82],"problem":[3],"of":[4,41,59,84],"real-time":[5],"navigation":[6,49,75],"in":[7,33,76],"dynamic":[8,51,77],"environments":[9],"for":[10,48],"car-like":[11,61,90],"robots.":[12],"present":[14],"an":[15],"approach":[16,37],"to":[17,23,67],"identify":[18],"controls":[19,69],"that":[20,70],"will":[21,71],"lead":[22],"a":[24,27,60,88],"collision":[25,73],"with":[26],"moving":[28,93],"obstacle":[29],"at":[30],"some":[31],"point":[32],"future.":[35],"Our":[36],"generalizes":[38],"concept":[40],"velocity":[42],"obstacles,":[43,52],"which":[44],"have":[45],"been":[46],"used":[47],"among":[50,92],"and":[53],"takes":[54],"into":[55],"account":[56],"constraints":[58],"robot.":[62],"use":[64],"this":[65],"formulation":[66],"find":[68],"allow":[72],"free":[74],"environments.":[78],"Finally,":[79],"we":[80],"demonstrate":[81],"performance":[83],"our":[85],"algorithm":[86],"on":[87],"simulated":[89],"robot":[91],"obstacles.":[94]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":19},{"year":2020,"cited_by_count":23},{"year":2019,"cited_by_count":20},{"year":2018,"cited_by_count":26},{"year":2017,"cited_by_count":19},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":12},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":11},{"year":2012,"cited_by_count":9}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}