{"id":"https://openalex.org/W4389665854","doi":"https://doi.org/10.1109/iros55552.2023.10341717","title":"Agent Prioritization and Virtual Drag Minimization in Dynamical System Modulation For Obstacle Avoidance of Decentralized Swarms","display_name":"Agent Prioritization and Virtual Drag Minimization in Dynamical System Modulation For Obstacle Avoidance of Decentralized Swarms","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665854","doi":"https://doi.org/10.1109/iros55552.2023.10341717"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341717","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/206316","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093479838","display_name":"Louis-Nicolas Douce","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Louis-Nicolas Douce","raw_affiliation_strings":["Swiss Federal School of Technology in Lausanne - EPFL,LASA Laboratory,Switzerland","LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal School of Technology in Lausanne - EPFL,LASA Laboratory,Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022133376","display_name":"Alessandro Menichelli","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alessandro Menichelli","raw_affiliation_strings":["Swiss Federal School of Technology in Lausanne - EPFL,BioRob Laboratory,Switzerland","BioRob Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal School of Technology in Lausanne - EPFL,BioRob Laboratory,Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"BioRob Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101634880","display_name":"Lukas Huber","orcid":"https://orcid.org/0000-0002-2471-6949"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lukas Huber","raw_affiliation_strings":["Swiss Federal School of Technology in Lausanne - EPFL,LASA Laboratory,Switzerland","LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal School of Technology in Lausanne - EPFL,LASA Laboratory,Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002780664","display_name":"Anastasia Bolotnikova","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Anastasia Bolotnikova","raw_affiliation_strings":["Swiss Federal School of Technology in Lausanne - EPFL,BioRob Laboratory,Switzerland","BioRob Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland","RRL Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal School of Technology in Lausanne - EPFL,BioRob Laboratory,Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"BioRob Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"RRL Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089837387","display_name":"Diego P\u00e1ez-Granados","orcid":"https://orcid.org/0000-0002-6143-1432"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Diego Paez-Granados","raw_affiliation_strings":["Swiss Federal School of Technology in Zurich- ETH Zurich,SCAI Laboratory at SPZ,Switzerland","SCAI Laboratory at SPZ, Swiss Federal School of Technology in Zurich- ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal School of Technology in Zurich- ETH Zurich,SCAI Laboratory at SPZ,Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"SCAI Laboratory at SPZ, Swiss Federal School of Technology in Zurich- ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069603317","display_name":"Auke Jan Ijspeert","orcid":"https://orcid.org/0000-0003-1417-9980"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Auke Ijspeert","raw_affiliation_strings":["Swiss Federal School of Technology in Lausanne - EPFL,BioRob Laboratory,Switzerland","BioRob Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal School of Technology in Lausanne - EPFL,BioRob Laboratory,Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"BioRob Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["Swiss Federal School of Technology in Lausanne - EPFL,LASA Laboratory,Switzerland","LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal School of Technology in Lausanne - EPFL,LASA Laboratory,Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"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":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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":0.9993000030517578,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.995199978351593,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6866813898086548},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6535618901252747},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6505305767059326},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5770904421806335},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.559156060218811},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.5171748995780945},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5076457262039185},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42316678166389465},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35027965903282166},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3413931727409363},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32874155044555664},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2961409389972687},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2380615472793579},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.21631452441215515},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19670549035072327},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14324596524238586}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6866813898086548},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6535618901252747},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6505305767059326},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5770904421806335},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.559156060218811},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.5171748995780945},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5076457262039185},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42316678166389465},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35027965903282166},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3413931727409363},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32874155044555664},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2961409389972687},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2380615472793579},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.21631452441215515},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19670549035072327},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14324596524238586},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros55552.2023.10341717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341717","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:309719","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/206316","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"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":"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":"WoS","raw_type":"conference proceedings"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/632370","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/632370","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.3929/ethz-b-000632370","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000632370","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:309719","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/206316","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"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":"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":"WoS","raw_type":"conference proceedings"},"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.6000000238418579}],"awards":[{"id":"https://openalex.org/G4723623528","display_name":null,"funder_award_id":"779942","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320320915","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1536373029","https://openalex.org/W1971086298","https://openalex.org/W1994691148","https://openalex.org/W2002440441","https://openalex.org/W2019738489","https://openalex.org/W2026762793","https://openalex.org/W2055425337","https://openalex.org/W2068878320","https://openalex.org/W2089344586","https://openalex.org/W2092507038","https://openalex.org/W2103120971","https://openalex.org/W2110144538","https://openalex.org/W2116966230","https://openalex.org/W2127617835","https://openalex.org/W2128990851","https://openalex.org/W2158400962","https://openalex.org/W2414434006","https://openalex.org/W2539402368","https://openalex.org/W2739535774","https://openalex.org/W2909411248","https://openalex.org/W2942307437","https://openalex.org/W3166133078","https://openalex.org/W3196213908","https://openalex.org/W3211881820","https://openalex.org/W4229007520","https://openalex.org/W4312499896","https://openalex.org/W4313149332","https://openalex.org/W6687097403","https://openalex.org/W6750048412"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W3045722011","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109"],"abstract_inverted_index":{"Efficient":[0],"and":[1,88,143],"safe":[2],"multi-agent":[3],"swarm":[4,41,58],"coordination":[5],"in":[6,139],"environments":[7],"where":[8,167],"humans":[9],"operate,":[10],"such":[11],"as":[12],"warehouses,":[13],"assistive":[14],"living":[15,142],"rooms,":[16],"or":[17],"automated":[18],"hospitals,":[19],"is":[20,50,72,161],"crucial":[21],"for":[22,39],"adopting":[23],"automation.":[24],"In":[25],"this":[26],"paper,":[27],"we":[28],"augment":[29],"the":[30,54,57,60,68,82,85,94,100,105,117,121,125,150,172,176,180,185],"obstacle":[31],"avoidance":[32],"algorithm":[33],"based":[34],"on":[35],"dynamical":[36,126],"system":[37,127],"modulation":[38,128],"a":[40,64,97,155],"of":[42,56,67,96,175],"heterogeneous":[43],"holonomic":[44],"mobile":[45],"agents.":[46,62,134],"A":[47],"smooth":[48],"prioritization":[49,147],"proposed":[51,186],"to":[52,74,80,129,154,163,190],"change":[53],"reactivity":[55],"towards":[59],"specific":[61],"Further,":[63],"soft":[65],"decoupling":[66,92],"initial":[69],"agent's":[70],"kinematics":[71],"used":[73],"design":[75],"an":[76,108],"independent":[77],"rotation":[78],"control":[79],"ensure":[81],"agent":[83,109],"reaches":[84],"desired":[86],"position":[87],"orientation":[89],"simultaneously.":[90],"This":[91],"allowed":[93],"introduction":[95],"novel":[98],"heuristic,":[99],"virtual":[101],"drag.":[102],"It":[103],"minimizes":[104],"disturbance":[106],"influence":[107],"has":[110],"when":[111],"moving":[112,156],"through":[113],"its":[114],"surrounding.":[115],"Additionally,":[116,171],"safety":[118,159,177],"module":[119,160,178],"adapts":[120],"velocity":[122],"commands":[123],"from":[124],"avoid":[130],"colliding":[131],"trajectories":[132],"between":[133],"The":[135,146,158],"evaluation":[136],"was":[137],"performed":[138],"simulated":[140],"assisted":[141],"hospital":[144],"environments.":[145],"successfully":[148],"increased":[149],"minimum":[151],"distance":[152],"relative":[153],"agent.":[157],"observed":[162],"create":[164],"collision-free":[165],"dynamics":[166],"alternative":[168],"methods":[169],"fail.":[170],"repulsive":[173],"nature":[174],"augments":[179],"convergence":[181],"rate,":[182],"thus":[183],"making":[184],"method":[187],"better":[188],"applicable":[189],"dense":[191],"real-world":[192],"scenarios.":[193]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
