{"id":"https://openalex.org/W2772321183","doi":"https://doi.org/10.1109/iros.2017.8202314","title":"Aggressive collision avoidance with limited field-of-view sensing","display_name":"Aggressive collision avoidance with limited field-of-view sensing","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2772321183","doi":"https://doi.org/10.1109/iros.2017.8202314","mag":"2772321183"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202314","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202314","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5079219281","display_name":"Brett T. Lopez","orcid":"https://orcid.org/0000-0001-5366-911X"},"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":"Brett T. Lopez","raw_affiliation_strings":["Aerospace Controls Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Controls Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011665886","display_name":"Jonathan P. How","orcid":"https://orcid.org/0000-0001-8576-1930"},"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":"Jonathan P. How","raw_affiliation_strings":["Aerospace Controls Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerospace Controls Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":0.9237,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.84459754,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1358","last_page":"1365"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9980000257492065,"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/collision-avoidance","display_name":"Collision avoidance","score":0.8890362977981567},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.7234705686569214},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7058389186859131},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6015697717666626},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5955281257629395},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5768935084342957},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.565324068069458},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5551985502243042},{"id":"https://openalex.org/keywords/field-of-view","display_name":"Field of view","score":0.5440821051597595},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.498244047164917},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.47856050729751587},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4623253643512726},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43631428480148315},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.43164223432540894},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.42638853192329407},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40623247623443604},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3744191527366638},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21451109647750854},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.1680147647857666},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14808917045593262},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13750594854354858},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09270596504211426},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08260741829872131}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8890362977981567},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.7234705686569214},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7058389186859131},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6015697717666626},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5955281257629395},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5768935084342957},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.565324068069458},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5551985502243042},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.5440821051597595},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.498244047164917},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.47856050729751587},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4623253643512726},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43631428480148315},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.43164223432540894},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42638853192329407},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40623247623443604},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3744191527366638},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21451109647750854},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.1680147647857666},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14808917045593262},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13750594854354858},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09270596504211426},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08260741829872131},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8202314","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202314","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6299999952316284,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W926607442","https://openalex.org/W1501966803","https://openalex.org/W1531355326","https://openalex.org/W1574514837","https://openalex.org/W1603205777","https://openalex.org/W1988918758","https://openalex.org/W1999050017","https://openalex.org/W2008277209","https://openalex.org/W2111034649","https://openalex.org/W2133844819","https://openalex.org/W2158955701","https://openalex.org/W2162991084","https://openalex.org/W2167340365","https://openalex.org/W2214613866","https://openalex.org/W2338687951","https://openalex.org/W2342181756","https://openalex.org/W2410630689","https://openalex.org/W2414314951","https://openalex.org/W2561780869","https://openalex.org/W2564322318","https://openalex.org/W2596174801","https://openalex.org/W2739434881","https://openalex.org/W3023767264","https://openalex.org/W4255045719","https://openalex.org/W6631685650","https://openalex.org/W6652361965","https://openalex.org/W6714402795","https://openalex.org/W6777322933"],"related_works":["https://openalex.org/W2130674020","https://openalex.org/W2093748878","https://openalex.org/W2333771223","https://openalex.org/W2120056845","https://openalex.org/W1981531423","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183"],"abstract_inverted_index":{"Quadrotors":[0],"that":[1,97],"navigate":[2],"through":[3],"unknown,":[4],"cluttered":[5],"environments":[6,143],"have":[7],"only":[8],"recently":[9],"begun":[10],"to":[11,39,45,64,116,136],"emerge":[12],"following":[13],"the":[14,60,67,101,114,124,131],"development":[15],"of":[16,31,62,110,147],"small":[17],"form-factor":[18],"sensing":[19],"and":[20,23,86,127,138],"computing":[21],"hardware":[22,128],"computationally":[24],"efficient":[25],"collision":[26,51],"avoidance":[27],"algorithms.":[28],"Computation":[29],"time":[30,135],"planning":[32,54],"algorithms":[33],"has":[34],"significantly":[35],"decreased":[36],"in":[37,123,142],"part":[38],"using":[40,46],"local":[41,56],"information":[42],"as":[43],"opposed":[44],"a":[47,91,119],"global":[48],"map":[49],"for":[50],"avoidance.":[52],"Safe":[53],"with":[55,78,104,144],"information,":[57],"however,":[58],"restricts":[59],"direction":[61],"travel":[63],"remain":[65],"within":[66],"perception":[68,102],"system's":[69],"field-of-view":[70],"(FOV).":[71],"The":[72,107],"vehicle's":[73],"motion":[74,120],"becomes":[75],"more":[76],"constrained":[77],"body-mounted":[79],"narrow":[80],"FOV":[81,103],"sensors,":[82],"reducing":[83],"vehicle":[84],"maneuverability":[85],"speed.":[87],"This":[88],"work":[89],"presents":[90],"relaxed-constraint":[92],"Model":[93],"Predictive":[94],"Control":[95],"framework":[96,133],"allows":[98],"motions":[99],"outside":[100],"guaranteed":[105],"safety.":[106],"key":[108],"aspect":[109],"this":[111],"approach":[112],"is":[113],"ability":[115],"safely":[117],"choose":[118],"primitive":[121],"generated":[122],"past.":[125],"Simulation":[126],"results":[129],"shows":[130],"new":[132],"improves":[134],"goal":[137],"flight":[139],"path":[140],"efficiency":[141],"varying":[145],"levels":[146],"clutter.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
