{"id":"https://openalex.org/W4312548188","doi":"https://doi.org/10.1109/iros47612.2022.9982198","title":"A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers","display_name":"A Framework for the Systematic Evaluation of Obstacle Avoidance and Object-Aware Controllers","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312548188","doi":"https://doi.org/10.1109/iros47612.2022.9982198"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982198","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2510.24683","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032046263","display_name":"Caleb Escobedo","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Caleb Escobedo","raw_affiliation_strings":["University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA,1111 Engineering Drive"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA,1111 Engineering Drive","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019543128","display_name":"Nataliya Nechyporenko","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nataliya Nechyporenko","raw_affiliation_strings":["University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA,1111 Engineering Drive"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA,1111 Engineering Drive","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047639393","display_name":"Shreyas Kadekodi","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shreyas Kadekodi","raw_affiliation_strings":["University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA,1111 Engineering Drive"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA,1111 Engineering Drive","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020277024","display_name":"Alessandro Roncone","orcid":"https://orcid.org/0000-0001-7385-1875"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alessandro Roncone","raw_affiliation_strings":["University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA,1111 Engineering Drive"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder,Department of Computer Science,Boulder,CO,USA,1111 Engineering Drive","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2359,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.5943778,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8117","last_page":"8124"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7280722856521606},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7093906402587891},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7029271125793457},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6724079847335815},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6315312385559082},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5889625549316406},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.579690158367157},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.569290816783905},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.55962073802948},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4601917564868927},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4574006199836731},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4390425980091095},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41213545203208923},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2887079119682312},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18836316466331482},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.14142310619354248}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7280722856521606},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7093906402587891},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7029271125793457},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6724079847335815},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6315312385559082},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5889625549316406},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.579690158367157},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.569290816783905},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.55962073802948},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4601917564868927},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4574006199836731},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4390425980091095},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41213545203208923},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2887079119682312},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18836316466331482},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.14142310619354248},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/iros47612.2022.9982198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982198","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2510.24683","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.24683","pdf_url":"https://arxiv.org/pdf/2510.24683","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"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":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2510.24683","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.24683","pdf_url":"https://arxiv.org/pdf/2510.24683","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"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":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5046902426","display_name":null,"funder_award_id":"N00014- 22-1-2482","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1964649988","https://openalex.org/W2049410986","https://openalex.org/W2104332709","https://openalex.org/W2109606373","https://openalex.org/W2116113712","https://openalex.org/W2119224729","https://openalex.org/W2221713116","https://openalex.org/W2614915090","https://openalex.org/W2618852836","https://openalex.org/W2762248135","https://openalex.org/W2805114031","https://openalex.org/W3010621561","https://openalex.org/W3090462889","https://openalex.org/W3138330110","https://openalex.org/W3189637118","https://openalex.org/W3205495752","https://openalex.org/W3206938631","https://openalex.org/W3210040340","https://openalex.org/W4241519124","https://openalex.org/W6747931884"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"Real-time":[0],"control":[1,109],"is":[2,41],"an":[3],"essential":[4],"aspect":[5],"of":[6,24,62,74,100,108],"safe":[7],"robot":[8,63],"operation":[9],"in":[10,56,113,124],"the":[11,22,54,72,89,93,98,125],"real":[12],"world":[13],"with":[14],"dynamic":[15],"objects.":[16],"We":[17,116],"present":[18],"a":[19,30],"framework":[20,40,120],"for":[21,28],"analysis":[23,55],"object-aware":[25,81,101],"con-trollers,":[26],"methods":[27],"altering":[29],"robot's":[31],"motion":[32,48],"to":[33,127],"anticipate":[34],"and":[35,50,111,130],"avoid":[36],"possible":[37],"collisions.":[38],"This":[39],"focused":[42],"on":[43,60],"three":[44,79],"design":[45,90,99],"considerations:":[46],"kinematics,":[47],"profiles,":[49],"virtual":[51],"constraints.":[52],"Additionally,":[53],"this":[57,119],"work":[58],"relies":[59],"verification":[61],"behaviors":[64],"using":[65],"fundamental":[66],"robot-obstacle":[67],"experimental":[68],"scenarios.":[69],"To":[70],"showcase":[71],"effectiveness":[73],"our":[75],"method":[76],"we":[77,95],"compare":[78],"representative":[80],"controllers.":[82],"The":[83],"comparison":[84],"uses":[85],"metrics":[86],"originating":[87],"from":[88],"considerations.":[91],"From":[92],"analysis,":[94],"find":[96],"that":[97,118],"controllers":[102],"often":[103],"lacks":[104],"kinematic":[105],"considerations,":[106],"continuity":[107],"points,":[110],"stability":[112],"movement":[114],"profiles.":[115],"conclude":[117],"can":[121],"be":[122],"used":[123],"future":[126],"design,":[128],"compare,":[129],"benchmark":[131],"obstacle":[132],"avoidance":[133],"methods.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}