{"id":"https://openalex.org/W1979785172","doi":"https://doi.org/10.1109/iros.2014.6943146","title":"Determining states of inevitable collision using reachability analysis","display_name":"Determining states of inevitable collision using reachability analysis","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1979785172","doi":"https://doi.org/10.1109/iros.2014.6943146","mag":"1979785172"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6943146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943146","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5078347098","display_name":"Andreas Lawitzky","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Andreas Lawitzky","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Institute of Automatic Control Engineering (LSR), Technische Universitat M\u00fcnchen, D-80290 Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universitat M\u00fcnchen, D-80290 Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025365546","display_name":"Anselm Nicklas","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Anselm Nicklas","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Institute of Automatic Control Engineering (LSR), Technische Universitat M\u00fcnchen, D-80290 Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universitat M\u00fcnchen, D-80290 Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061769472","display_name":"Dirk Wollherr","orcid":"https://orcid.org/0000-0003-2810-6790"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Wollherr","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Institute of Automatic Control Engineering (LSR), Technische Universitat M\u00fcnchen, D-80290 Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universitat M\u00fcnchen, D-80290 Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081223790","display_name":"Martin Buss","orcid":"https://orcid.org/0000-0002-1776-2752"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Buss","raw_affiliation_strings":["Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Institute of Automatic Control Engineering (LSR), Technische Universitat M\u00fcnchen, D-80290 Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Automatic Control Engineering (LSR), Technische Universitat M\u00fcnchen, D-80290 Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5078347098"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":2.2242,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.90006005,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4142","last_page":"4147"},"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":0.996999979019165,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9968000054359436,"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/reachability","display_name":"Reachability","score":0.9646511673927307},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7080941200256348},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6715542674064636},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6636002063751221},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6515231132507324},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.647702693939209},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5624616742134094},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5537267923355103},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5506965517997742},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5163518190383911},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.48670366406440735},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4424746334552765},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.33993953466415405},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3317224085330963},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20138007402420044},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1942310631275177}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.9646511673927307},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7080941200256348},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6715542674064636},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6636002063751221},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6515231132507324},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.647702693939209},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5624616742134094},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5537267923355103},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5506965517997742},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5163518190383911},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.48670366406440735},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4424746334552765},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.33993953466415405},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3317224085330963},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20138007402420044},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1942310631275177},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2014.6943146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943146","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1249741","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1249741","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W592312525","https://openalex.org/W1424654272","https://openalex.org/W1574960890","https://openalex.org/W1974042363","https://openalex.org/W1979743043","https://openalex.org/W2000359213","https://openalex.org/W2024249108","https://openalex.org/W2042225474","https://openalex.org/W2070291139","https://openalex.org/W2095233962","https://openalex.org/W2105289524","https://openalex.org/W2110910849","https://openalex.org/W2117211893","https://openalex.org/W2119073955","https://openalex.org/W2126200703","https://openalex.org/W2162791642","https://openalex.org/W2611243847","https://openalex.org/W2750147881","https://openalex.org/W6678289249"],"related_works":["https://openalex.org/W2075718555","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408","https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W3215492696","https://openalex.org/W2257960210","https://openalex.org/W2028510469"],"abstract_inverted_index":{"In":[0],"this":[1,18,67],"paper":[2,68],"the":[3,20,53,58,96,108,111],"states":[4],"of":[5,36,102,110],"inevitable":[6],"collision":[7],"for":[8,22,32,75],"mobile":[9],"robots":[10],"are":[11,48,55],"determined":[12],"using":[13],"reachable":[14],"set":[15],"theory.":[16],"With":[17],"theory":[19],"safety":[21],"robotic":[23],"platforms":[24],"can":[25,80],"be":[26],"guaranteed,":[27],"still":[28],"allowing":[29],"maximum":[30],"flexibility":[31],"navigation.":[33],"Making":[34],"use":[35],"reachability":[37,51],"analysis,":[38],"limitations":[39],"due":[40],"to":[41],"input":[42],"sampling":[43],"as":[44],"in":[45,57,66,105],"previous":[46],"approaches":[47],"avoided.":[49],"Using":[50],"analysis":[52],"obstacles":[54,86],"grown":[56],"state":[59],"space.":[60],"The":[61],"mathematical":[62],"background":[63],"is":[64,73,114],"shown":[65],"and":[69,87,91],"an":[70],"exemplary":[71],"algorithm":[72],"given":[74],"static":[76],"environments.":[77],"This":[78],"implementation":[79],"handle":[81],"arbitrary":[82],"environments":[83],"with":[84],"multiple":[85],"different":[88],"high-dimensional":[89],"linear":[90],"non-linear":[92],"system":[93],"dynamics":[94],"including":[95],"car-like":[97],"kinematic":[98],"model.":[99],"By":[100],"means":[101],"experimental":[103],"results":[104],"simulated":[106],"environments,":[107],"validity":[109],"proposed":[112],"concept":[113],"shown.":[115]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4}],"updated_date":"2026-04-28T06:04:28.489925","created_date":"2025-10-10T00:00:00"}
