{"id":"https://openalex.org/W3004353477","doi":"https://doi.org/10.1109/iros40897.2019.8967641","title":"Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments","display_name":"Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3004353477","doi":"https://doi.org/10.1109/iros40897.2019.8967641","mag":"3004353477"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967641","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/20.500.11820/289662db-f2d2-4132-90f0-080fc7e61eb8","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036958906","display_name":"Wolfgang Merkt","orcid":"https://orcid.org/0000-0003-3235-4906"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Wolfgang Merkt","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049922263","display_name":"Vladimir Ivan","orcid":"https://orcid.org/0000-0002-6610-385X"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Vladimir Ivan","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum, 10 Crichton Street,Edinburgh,United Kingdom,EH8 9AB","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"Institute for Perception, Action, and Behaviour, School of Informatics, The University of Edinburgh (Informatics Forum, 10 Crichton Street, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5036958906"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":1.226,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.84065259,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7248","last_page":"7255"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9961000084877014,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9817000031471252,"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/collision-avoidance","display_name":"Collision avoidance","score":0.8374738693237305},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.6900913715362549},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6534144282341003},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5661801695823669},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5142821669578552},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5068808197975159},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.4764990210533142},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4661048352718353},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4378986358642578},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4185701906681061},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2988964915275574},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2210141122341156},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19741031527519226},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16960427165031433}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8374738693237305},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.6900913715362549},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6534144282341003},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5661801695823669},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5142821669578552},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5068808197975159},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.4764990210533142},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4661048352718353},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4378986358642578},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4185701906681061},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2988964915275574},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2210141122341156},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19741031527519226},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16960427165031433},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros40897.2019.8967641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967641","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:publications/289662db-f2d2-4132-90f0-080fc7e61eb8","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/289662db-f2d2-4132-90f0-080fc7e61eb8","pdf_url":"http://hdl.handle.net/20.500.11820/289662db-f2d2-4132-90f0-080fc7e61eb8","source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:publications/289662db-f2d2-4132-90f0-080fc7e61eb8","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/289662db-f2d2-4132-90f0-080fc7e61eb8","pdf_url":"http://hdl.handle.net/20.500.11820/289662db-f2d2-4132-90f0-080fc7e61eb8","source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3004353477.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W141244604","https://openalex.org/W180478659","https://openalex.org/W1536308292","https://openalex.org/W1602382704","https://openalex.org/W1605218591","https://openalex.org/W1970101292","https://openalex.org/W2004139909","https://openalex.org/W2012511638","https://openalex.org/W2019965290","https://openalex.org/W2060530453","https://openalex.org/W2086410114","https://openalex.org/W2099893201","https://openalex.org/W2104782147","https://openalex.org/W2142224528","https://openalex.org/W2154722715","https://openalex.org/W2162440460","https://openalex.org/W2165623742","https://openalex.org/W2166316739","https://openalex.org/W2320234922","https://openalex.org/W2546356977","https://openalex.org/W2770550065","https://openalex.org/W2774194701","https://openalex.org/W2849931839","https://openalex.org/W2909245322","https://openalex.org/W2909501798","https://openalex.org/W3023986319","https://openalex.org/W3120710284","https://openalex.org/W3181488183","https://openalex.org/W6777241720"],"related_works":["https://openalex.org/W2006251942","https://openalex.org/W2364741597","https://openalex.org/W1492103595","https://openalex.org/W1864774435","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183","https://openalex.org/W2115970849"],"abstract_inverted_index":{"Common":[0],"formulations":[1],"to":[2,40,120],"consider":[3],"collision":[4,83,136,160],"avoidance":[5,84,137,161],"in":[6,53,61,69,86,114,144,152],"trajectory":[7],"optimization":[8,51],"often":[9],"use":[10,122],"either":[11,33,109],"preprocessed":[12],"environments":[13,70],"or":[14,42,68,112],"only":[15,26],"check":[16],"and":[17,90,100,104,177,181],"penalize":[18],"collisions":[19,57],"at":[20,28],"discrete":[21,29,135,153],"time":[22,44],"steps.":[23],"However,":[24],"when":[25],"checking":[27],"states,":[30],"this":[31,75],"requires":[32],"large":[34],"margins":[35],"that":[36],"prevent":[37],"manipulation":[38,165,173],"close":[39],"obstacles":[41],"dense":[43],"discretization":[45],"increasing":[46],"the":[47,50,62,121],"dimensionality":[48],"of":[49,88,123,166],"problem":[52],"complex":[54],"environments.":[55],"Nonetheless,":[56],"may":[58],"still":[59],"occur":[60],"interpolation/transition":[63],"between":[64],"two":[65],"valid":[66],"states":[67],"with":[71,147,190],"thin":[72],"obstacles.":[73,92],"In":[74],"work,":[76],"we":[77],"introduce":[78],"a":[79,110],"computationally":[80],"inexpensive":[81],"continuous-time":[82,148],"term":[85],"presence":[87],"static":[89],"moving":[91,167],"Our":[93],"penalty":[94,183],"is":[95],"based":[96,138,185],"on":[97,139,162,170,186],"conservative":[98,124],"advancement":[99,125],"harmonic":[101,187],"potential":[102,188],"fields":[103,189],"can":[105],"be":[106],"used":[107],"as":[108],"cost":[111],"constraint":[113],"off-the-shelf":[115],"non-linear":[116],"programming":[117],"solvers.":[118],"Due":[119],"(collision":[126],"checks)":[127],"rather":[128],"than":[129],"distance":[130,141],"computations,":[131],"our":[132,157],"method":[133],"outperforms":[134],"signed":[140],"constraints":[142],"resulting":[143],"smooth":[145],"motions":[146],"safety":[149],"while":[150],"planning":[151,180],"time.":[154],"We":[155],"evaluate":[156],"proposed":[158],"continuous":[159],"scenarios":[163],"including":[164],"targets,":[168],"locomanipulation":[169],"mobile":[171],"robots,":[172],"trajectories":[174],"for":[175],"humanoids,":[176],"quadrotor":[178],"path":[179],"compare":[182],"terms":[184],"ones":[191],"derived":[192],"from":[193],"contact":[194],"normals.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-11T08:14:18.477133","created_date":"2025-10-10T00:00:00"}
