{"id":"https://openalex.org/W3130079089","doi":"https://doi.org/10.1109/iros45743.2020.9341539","title":"A Distributed Range-Only Collision Avoidance Approach for Low-cost Large-scale Multi-Robot Systems","display_name":"A Distributed Range-Only Collision Avoidance Approach for Low-cost Large-scale Multi-Robot Systems","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130079089","doi":"https://doi.org/10.1109/iros45743.2020.9341539","mag":"3130079089"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341539","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5062988632","display_name":"Ruihua Han","orcid":"https://orcid.org/0000-0001-6206-5289"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruihua Han","raw_affiliation_strings":["Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058043624","display_name":"Shengduo Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengduo Chen","raw_affiliation_strings":["Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037660521","display_name":"Qi Hao","orcid":"https://orcid.org/0000-0002-2792-5965"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I4210139618","display_name":"Shanghai Key Laboratory of Trustworthy Computing","ror":"https://ror.org/030qbr085","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210139618"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Hao","raw_affiliation_strings":["Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, China","Sifakis Research Institute of Trustworthy Autonomous Systems"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Sifakis Research Institute of Trustworthy Autonomous Systems","institution_ids":["https://openalex.org/I4210139618"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"8020","last_page":"8026"},"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":0.9995999932289124,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8120218515396118},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7864177227020264},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6066386699676514},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5568618178367615},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5379062294960022},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5357261300086975},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.496523916721344},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4510561227798462},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4496687650680542},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4179019033908844},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.413493812084198},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.40437307953834534},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.382576584815979},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33362001180648804},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2018451988697052},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06818589568138123}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8120218515396118},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7864177227020264},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6066386699676514},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5568618178367615},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5379062294960022},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5357261300086975},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.496523916721344},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4510561227798462},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4496687650680542},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4179019033908844},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.413493812084198},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.40437307953834534},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.382576584815979},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33362001180648804},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2018451988697052},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06818589568138123},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum 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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341539","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W6827933","https://openalex.org/W178419168","https://openalex.org/W192919555","https://openalex.org/W1593439974","https://openalex.org/W1998716564","https://openalex.org/W2002440441","https://openalex.org/W2072337003","https://openalex.org/W2097639646","https://openalex.org/W2142943472","https://openalex.org/W2167340365","https://openalex.org/W2170263081","https://openalex.org/W2202063402","https://openalex.org/W2336416123","https://openalex.org/W2339802450","https://openalex.org/W2736361778","https://openalex.org/W2775408149","https://openalex.org/W2797537646","https://openalex.org/W2887927966","https://openalex.org/W2890325162","https://openalex.org/W2901136733","https://openalex.org/W2963139193","https://openalex.org/W2963407617","https://openalex.org/W2963722165","https://openalex.org/W2963809389","https://openalex.org/W2963821308","https://openalex.org/W2964319688","https://openalex.org/W4299802797","https://openalex.org/W6600296044","https://openalex.org/W6738796088","https://openalex.org/W6753624969","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4309562525","https://openalex.org/W2129752956","https://openalex.org/W2015887063","https://openalex.org/W282007803","https://openalex.org/W2583948535","https://openalex.org/W3151316732","https://openalex.org/W3096629846","https://openalex.org/W2913987229","https://openalex.org/W2098422130","https://openalex.org/W2158014010"],"abstract_inverted_index":{"The":[0,48,135],"challenges":[1],"of":[2,15,35,50,80,87,126,143,162],"developing":[3],"low-cost,":[4],"large-scale":[5,64],"multi-robot":[6],"navigation":[7,60],"systems":[8],"include":[9],"noisy":[10,77],"measurements,":[11],"a":[12,26,32,57,63,85,110],"large":[13,33],"number":[14,34],"robots,":[16],"and":[17,98,105,133,150,155],"computing":[18],"efficiency":[19],"for":[20,31,62,89,118],"collision":[21,41],"avoidance.":[22],"This":[23],"paper":[24],"presents":[25],"distributed":[27,58],"motion":[28,72,115],"planning":[29,73,116],"framework":[30],"robots":[36,145],"to":[37,92,167],"navigate":[38],"with":[39,140],"robust":[40],"avoidance":[42],"using":[43],"low-cost":[44],"range":[45,78,103],"only":[46],"measurements.":[47],"novelty":[49],"this":[51],"work":[52],"is":[53,138],"threefold.":[54],"(1)":[55],"Developing":[56,84,109],"collision-free":[59],"system":[61],"robot":[65,70,91,120],"group":[66],"in":[67,130,146],"which":[68,121],"each":[69,90,119],"performs":[71],"based":[74,100,114],"on":[75,101],"the":[76,95,102,127,147,159,163],"measurements":[79,104],"neighboring":[81],"robots;":[82],"(2)":[83],"set":[86],"algorithms":[88],"accurately":[93],"estimate":[94],"relative":[96,106,131],"positions":[97,132],"orientations":[99],"velocities;":[107],"(3)":[108],"velocity":[111],"obstacle":[112],"(VO)":[113],"algorithm":[117],"can":[122],"take":[123],"into":[124],"account":[125],"estimation":[128],"uncertainties":[129],"orientations.":[134],"proposed":[136,164],"approach":[137,165],"tested":[139],"various":[141],"numbers":[142],"differential-driven":[144],"Gazebo":[148],"simulator":[149],"real-world":[151],"experiments.":[152],"Both":[153],"simulation":[154],"experiment":[156],"results":[157],"validate":[158],"superior":[160],"performance":[161],"compared":[166],"other":[168],"state-of-art":[169],"technologies.":[170]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}