{"id":"https://openalex.org/W2771744989","doi":"https://doi.org/10.1109/iros.2017.8206184","title":"Decentralized navigation of multiple agents based on ORCA and model predictive control","display_name":"Decentralized navigation of multiple agents based on ORCA and model predictive control","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2771744989","doi":"https://doi.org/10.1109/iros.2017.8206184","mag":"2771744989"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206184","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206184","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/A5101409148","display_name":"Hui Cheng","orcid":"https://orcid.org/0000-0003-2579-7004"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Cheng","raw_affiliation_strings":["School of Data and Computer Science, Sun Yat-sen University, Guangzhou, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Data and Computer Science, Sun Yat-sen University, Guangzhou, P. R. China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082367005","display_name":"Qiyuan Zhu","orcid":"https://orcid.org/0000-0002-1750-223X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiyuan Zhu","raw_affiliation_strings":["School of Data and Computer Science, Sun Yat-sen University, Guangzhou, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Data and Computer Science, Sun Yat-sen University, Guangzhou, P. R. China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055683678","display_name":"Zhongchang Liu","orcid":"https://orcid.org/0000-0002-9729-3318"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongchang Liu","raw_affiliation_strings":["School of Data and Computer Science, Sun Yat-sen University, Guangzhou, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Data and Computer Science, Sun Yat-sen University, Guangzhou, P. R. China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068674435","display_name":"Tianye Xu","orcid":"https://orcid.org/0000-0002-7107-2525"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianye Xu","raw_affiliation_strings":["School of Data and Computer Science, Sun Yat-sen University, Guangzhou, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Data and Computer Science, Sun Yat-sen University, Guangzhou, P. R. China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100412937","display_name":"Liang Lin","orcid":"https://orcid.org/0000-0003-2248-3755"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I4210128910","display_name":"Group Sense (China)","ror":"https://ror.org/036wd5777","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210128910"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Lin","raw_affiliation_strings":["School of Data and Computer Science, Sun Yat-sen University, Guangzhou, P. R. China","SenseTime Group (Limited), Shenzhen, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Data and Computer Science, Sun Yat-sen University, Guangzhou, P. R. China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"SenseTime Group (Limited), Shenzhen, P. R. China","institution_ids":["https://openalex.org/I4210128910"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1085,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.86769283,"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":"3446","last_page":"3451"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9983999729156494,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9940999746322632,"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/model-predictive-control","display_name":"Model predictive control","score":0.6989446878433228},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6556930541992188},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5868394374847412},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5840752124786377},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5358031988143921},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4733472168445587},{"id":"https://openalex.org/keywords/reciprocal","display_name":"Reciprocal","score":0.44873034954071045},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4394259452819824},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41694384813308716},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41359835863113403},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4102734923362732},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.401863157749176},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3104250431060791},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21762025356292725}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6989446878433228},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6556930541992188},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5868394374847412},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5840752124786377},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5358031988143921},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4733472168445587},{"id":"https://openalex.org/C2777742833","wikidata":"https://www.wikidata.org/wiki/Q1964083","display_name":"Reciprocal","level":2,"score":0.44873034954071045},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4394259452819824},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41694384813308716},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41359835863113403},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4102734923362732},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.401863157749176},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3104250431060791},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21762025356292725},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206184","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206184","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":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.5}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W178419168","https://openalex.org/W192919555","https://openalex.org/W1030513622","https://openalex.org/W1496255861","https://openalex.org/W1578293866","https://openalex.org/W1976517551","https://openalex.org/W1991482882","https://openalex.org/W2020895320","https://openalex.org/W2024802078","https://openalex.org/W2026079951","https://openalex.org/W2104691494","https://openalex.org/W2117211893","https://openalex.org/W2128453677","https://openalex.org/W2133067819","https://openalex.org/W2142943472","https://openalex.org/W2147756883","https://openalex.org/W2158400962","https://openalex.org/W2282033015","https://openalex.org/W2410196716","https://openalex.org/W2417278911"],"related_works":["https://openalex.org/W2391753177","https://openalex.org/W2996284460","https://openalex.org/W4298337043","https://openalex.org/W1966306316","https://openalex.org/W4285058191","https://openalex.org/W2052414331","https://openalex.org/W3003660440","https://openalex.org/W2028403663","https://openalex.org/W2735124752","https://openalex.org/W4383174144"],"abstract_inverted_index":{"This":[0,12,93],"paper":[1],"presents":[2],"a":[3,52,99],"decentralized":[4,32],"strategy":[5,13],"for":[6],"collision-free":[7],"navigation":[8],"of":[9,51,67,104,123],"multiple":[10],"agents.":[11],"combines":[14],"the":[15,31,37,58,68,74,81,86,101,110,121,124,138],"Optimal":[16],"Reciprocal":[17],"Collision":[18],"Avoidance":[19],"(ORCA)":[20],"algorithm":[21,34,83,113,132],"and":[22,114,127],"Model":[23],"Predictive":[24],"Control":[25],"(MPC).":[26],"Concretely,":[27],"each":[28,105],"agent":[29,106],"applies":[30],"ORCA":[33,82,87,112,140],"to":[35,42,84,109],"compute":[36,85],"collision-avoiding":[38],"velocities":[39,47],"with":[40],"respect":[41],"its":[43,115],"neighbors.":[44],"The":[45,70],"derived":[46],"serve":[48],"as":[49],"constraints":[50],"MPC":[53],"problem":[54],"whose":[55],"solution":[56],"provides":[57],"optimal":[59,65],"control":[60],"input":[61],"that":[62,129],"can":[63,133],"ensure":[64],"motion":[66],"agent.":[69],"states":[71],"predicted":[72],"from":[73],"agents'":[75],"dynamic":[76],"models":[77],"are":[78],"used":[79],"in":[80,90,107,137],"velocity":[88,103,135],"regions":[89],"future":[91],"steps.":[92],"ORCA-MPC":[94],"combined":[95],"approach":[96],"doesn't":[97],"need":[98],"priori":[100],"preferred":[102],"comparison":[108],"traditional":[111,139],"existing":[116],"variants.":[117],"Simulation":[118],"results":[119],"illustrate":[120],"effectiveness":[122],"proposed":[125],"method,":[126],"show":[128],"this":[130],"new":[131],"reduce":[134],"vibrations":[136],"algorithm.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}