{"id":"https://openalex.org/W2083846964","doi":"https://doi.org/10.1109/iros.2012.6385750","title":"Reactive control in environments with hard and soft hazards","display_name":"Reactive control in environments with hard and soft hazards","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2083846964","doi":"https://doi.org/10.1109/iros.2012.6385750","mag":"2083846964"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5079292151","display_name":"Sisir Karumanchi","orcid":"https://orcid.org/0000-0002-0685-4125"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sisir Karumanchi","raw_affiliation_strings":["Robotic Mobility Group, Laboratory for Manufacturing and Productivity, Massachusetts Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"Robotic Mobility Group, Laboratory for Manufacturing and Productivity, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052432097","display_name":"Karl Iagnemma","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karl Iagnemma","raw_affiliation_strings":["Robotic Mobility Group, Laboratory for Manufacturing and Productivity, Massachusetts Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"Robotic Mobility Group, Laboratory for Manufacturing and Productivity, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5079292151"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":0.8236,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.75746397,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2863","last_page":"2868"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.9912999868392944,"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/computer-science","display_name":"Computer science","score":0.683569073677063},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5976998209953308},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.5936640501022339},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.571440577507019},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4963722825050354},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.4940789043903351},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4895659387111664},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.46165570616722107},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4511118531227112},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4404321312904358},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4299900531768799},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4182160496711731},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3812202513217926},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25799521803855896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19753363728523254},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17912518978118896},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1690351366996765},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11607134342193604}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.683569073677063},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5976998209953308},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.5936640501022339},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.571440577507019},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4963722825050354},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.4940789043903351},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4895659387111664},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.46165570616722107},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4511118531227112},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4404321312904358},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4299900531768799},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4182160496711731},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3812202513217926},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25799521803855896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19753363728523254},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17912518978118896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1690351366996765},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11607134342193604},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","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},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1502922572","https://openalex.org/W1746819321","https://openalex.org/W1976206117","https://openalex.org/W2055207897","https://openalex.org/W2069830673","https://openalex.org/W2104269443","https://openalex.org/W2117211893","https://openalex.org/W2124651605","https://openalex.org/W2125409550","https://openalex.org/W2133918634","https://openalex.org/W2167683317","https://openalex.org/W2611243847","https://openalex.org/W2758107681","https://openalex.org/W4235740860","https://openalex.org/W6675767731"],"related_works":["https://openalex.org/W2906946336","https://openalex.org/W2364477340","https://openalex.org/W2938416672","https://openalex.org/W2146611987","https://openalex.org/W4389432327","https://openalex.org/W4289599435","https://openalex.org/W2132660247","https://openalex.org/W1986528036","https://openalex.org/W2098534227","https://openalex.org/W3126153333"],"abstract_inverted_index":{"In":[0],"this":[1,122],"paper":[2,123],"we":[3],"present":[4],"a":[5,113],"generalization":[6],"of":[7,52,85,90,105,116],"reactive":[8,34,66,99],"obstacle":[9],"avoidance":[10,29],"algorithms":[11,35],"for":[12],"mobile":[13],"robots":[14],"operating":[15,63,96],"among":[16],"soft":[17,41,145],"hazards":[18],"such":[19,86],"as":[20],"off-road":[21],"slopes":[22],"and":[23,74,79],"deformable":[24],"terrain.":[25],"A":[26,98],"new":[27],"hazard":[28],"scheme":[30],"generalizes":[31],"constraint":[32],"based":[33],"[1],":[36],"[2]":[37],"from":[38,77],"hard":[39],"to":[40,57,94],"hazards.":[42,146],"Reactive":[43],"controllers":[44,67],"operate":[45],"by":[46,70],"directly":[47],"parameterizing":[48],"the":[49,53,58,60,91,95],"closedloop":[50],"dynamics":[51],"system":[54],"with":[55,140],"respect":[56],"environment":[59,134],"robot":[61],"is":[62,88,107,133],"in.":[64],"Traditionally,":[65],"are":[68,129],"parameterized":[69],"weighting":[71],"virtual":[72],"attraction":[73],"repulsion":[75],"forces":[76],"goals":[78],"obstacles":[80],"[3],":[81],"[4].":[82],"One":[83],"pitfall":[84],"parameterizations":[87],"sensitivity":[89],"tuning":[92],"parameters":[93],"environment.":[97],"controller":[100],"tuned":[101],"in":[102,110,121],"one":[103],"set":[104],"conditions":[106],"not":[108],"applicable":[109],"another":[111],"(e.g.":[112],"different":[114],"density":[115],"obstacles).":[117],"The":[118],"algorithm":[119],"presented":[120],"has":[124],"two":[125],"key":[126],"properties":[127],"which":[128],"significant":[130],"i)":[131],"Parameterization":[132],"independent.":[135],"ii)":[136],"It":[137],"can":[138],"deal":[139],"non-binary":[141],"environments":[142],"that":[143],"contain":[144]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}