{"id":"https://openalex.org/W2774377244","doi":"https://doi.org/10.1109/iros.2017.8206415","title":"MPC-based humanoid pursuit-evasion in the presence of obstacles","display_name":"MPC-based humanoid pursuit-evasion in the presence of obstacles","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2774377244","doi":"https://doi.org/10.1109/iros.2017.8206415","mag":"2774377244"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206415","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":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11573/1069234","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000560511","display_name":"Daniele De Simone","orcid":"https://orcid.org/0000-0003-2948-5307"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Daniele De Simone","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Roma, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002495557","display_name":"Nicola Scianca","orcid":"https://orcid.org/0000-0002-5185-0924"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Scianca","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Roma, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102772582","display_name":"Paolo Ferrari","orcid":"https://orcid.org/0000-0002-6094-7592"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Ferrari","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Roma, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053599061","display_name":"Leonardo Lanari","orcid":"https://orcid.org/0000-0002-8546-1783"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Leonardo Lanari","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Roma, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085865201","display_name":"Giuseppe Oriolo","orcid":"https://orcid.org/0000-0001-6153-9278"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Oriolo","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Roma, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5000560511"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":0.5461,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.76640994,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5245","last_page":"5250"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9901999831199646,"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/pursuer","display_name":"Pursuer","score":0.961635947227478},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6909255981445312},{"id":"https://openalex.org/keywords/pursuit-evasion","display_name":"Pursuit-evasion","score":0.6568686962127686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6146131157875061},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5977684259414673},{"id":"https://openalex.org/keywords/evasion","display_name":"Evasion (ethics)","score":0.5795644521713257},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5382665395736694},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5200764536857605},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4932934641838074},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4738353192806244},{"id":"https://openalex.org/keywords/line-of-sight","display_name":"Line-of-sight","score":0.46428146958351135},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4491243362426758},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3737209141254425},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34384289383888245},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32219934463500977},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30386877059936523},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2860344648361206},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24394255876541138},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.23736336827278137},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06584423780441284}],"concepts":[{"id":"https://openalex.org/C2776927521","wikidata":"https://www.wikidata.org/wiki/Q468489","display_name":"Pursuer","level":2,"score":0.961635947227478},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6909255981445312},{"id":"https://openalex.org/C2778388243","wikidata":"https://www.wikidata.org/wiki/Q7261573","display_name":"Pursuit-evasion","level":2,"score":0.6568686962127686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6146131157875061},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5977684259414673},{"id":"https://openalex.org/C2781251061","wikidata":"https://www.wikidata.org/wiki/Q5416089","display_name":"Evasion (ethics)","level":3,"score":0.5795644521713257},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5382665395736694},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5200764536857605},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4932934641838074},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4738353192806244},{"id":"https://openalex.org/C2780928442","wikidata":"https://www.wikidata.org/wiki/Q6553027","display_name":"Line-of-sight","level":2,"score":0.46428146958351135},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4491243362426758},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3737209141254425},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34384289383888245},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32219934463500977},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30386877059936523},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2860344648361206},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24394255876541138},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.23736336827278137},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06584423780441284},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C8891405","wikidata":"https://www.wikidata.org/wiki/Q1059","display_name":"Immune system","level":2,"score":0.0},{"id":"https://openalex.org/C203014093","wikidata":"https://www.wikidata.org/wiki/Q101929","display_name":"Immunology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8206415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206415","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"},{"id":"pmh:oai:iris.uniroma1.it:11573/1069234","is_oa":true,"landing_page_url":"http://hdl.handle.net/11573/1069234","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:iris.uniroma1.it:11573/1069234","is_oa":true,"landing_page_url":"http://hdl.handle.net/11573/1069234","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W40650588","https://openalex.org/W61594866","https://openalex.org/W566530810","https://openalex.org/W1982153978","https://openalex.org/W1985406432","https://openalex.org/W1994691148","https://openalex.org/W2103120971","https://openalex.org/W2124348791","https://openalex.org/W2177274602","https://openalex.org/W2333533581","https://openalex.org/W2419320609","https://openalex.org/W2540579400","https://openalex.org/W2568656471","https://openalex.org/W2569338730","https://openalex.org/W2738854338"],"related_works":["https://openalex.org/W2546733891","https://openalex.org/W2037504958","https://openalex.org/W1994748888","https://openalex.org/W2522390654","https://openalex.org/W2198564962","https://openalex.org/W4287827711","https://openalex.org/W296865840","https://openalex.org/W2029249305","https://openalex.org/W4385981667","https://openalex.org/W2046646718"],"abstract_inverted_index":{"We":[0,133],"consider":[1],"a":[2,31,77,94,101],"pursuit-evasion":[3],"problem":[4],"between":[5],"humanoids":[6],"in":[7,76],"the":[8,15,18,22,28,41,44,51,55,65,68,71,81,84,87,90,107,121,124,135],"presence":[9],"of":[10,21,62,89,109,123],"obstacles.":[11],"In":[12],"our":[13],"scenario,":[14],"pursuer":[16,42,56],"enters":[17],"safety":[19],"area":[20],"evader":[23,72],"headed":[24],"for":[25,39,99,106],"collision,":[26],"while":[27],"latter":[29],"executes":[30],"fast":[32],"evasive":[33],"motion.":[34],"Control":[35,97],"schemes":[36],"are":[37,47,53],"designed":[38],"both":[40],"and":[43,127],"evader.":[45],"They":[46],"structurally":[48],"identical,":[49],"although":[50],"objectives":[52],"different:":[54],"tries":[57,73],"to":[58,67,74,80,83],"align":[59],"its":[60],"direction":[61,78],"motion":[63],"with":[64,137],"line-of-sight":[66,82],"evader,":[69],"whereas":[70],"move":[75],"orthogonal":[79],"pursuer.":[85],"At":[86],"core":[88],"control":[91],"architecture":[92],"is":[93],"Model":[95],"Predictive":[96],"scheme":[98],"generating":[100],"stable":[102],"gait.":[103],"This":[104],"allows":[105],"inclusion":[108],"workspace":[110],"obstacles,":[111],"which":[112],"we":[113],"take":[114],"into":[115],"account":[116],"at":[117],"two":[118],"levels:":[119],"during":[120],"determination":[122],"footsteps":[125],"orientation":[126],"as":[128],"an":[129],"explicit":[130],"MPC":[131],"constraint.":[132],"illustrate":[134],"results":[136],"simulations":[138],"on":[139],"NAO":[140],"humanoids.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
