{"id":"https://openalex.org/W4405786385","doi":"https://doi.org/10.1109/iros58592.2024.10802727","title":"Online Efficient Safety-Critical Control for Mobile Robots in Unknown Dynamic Multi-Obstacle Environments","display_name":"Online Efficient Safety-Critical Control for Mobile Robots in Unknown Dynamic Multi-Obstacle Environments","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786385","doi":"https://doi.org/10.1109/iros58592.2024.10802727"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802727","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","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/A5047636348","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0002-0647-8772"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113128925","display_name":"Guangyao Tian","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Guangyao Tian","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100698206","display_name":"Long Wen","orcid":"https://orcid.org/0009-0009-3515-1814"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Long Wen","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073985865","display_name":"Xiangtong Yao","orcid":"https://orcid.org/0000-0003-2556-3072"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Xiangtong Yao","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111122200","display_name":"Liding Zhang","orcid":"https://orcid.org/0009-0007-0119-706X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Liding Zhang","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060444894","display_name":"Zhenshan Bing","orcid":"https://orcid.org/0000-0002-0896-2517"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zhenshan Bing","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071575481","display_name":"Wei He","orcid":"https://orcid.org/0000-0003-4528-4679"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei He","raw_affiliation_strings":["University of Science and Technology Beijing,Department of Intelligence Science and Technology,Beijing,China,100083"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology Beijing,Department of Intelligence Science and Technology,Beijing,China,100083","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5047636348"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":2.0007,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.88354229,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"12370","last_page":"12377"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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":0.9983999729156494,"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/T10933","display_name":"Real-Time Systems Scheduling","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T12288","display_name":"Optimization and Search Problems","score":0.9749000072479248,"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/obstacle","display_name":"Obstacle","score":0.7900903224945068},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7477731704711914},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6398332118988037},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5532472133636475},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.47858476638793945},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.453429639339447},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36919915676116943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24614965915679932}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7900903224945068},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7477731704711914},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6398332118988037},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5532472133636475},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.47858476638793945},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.453429639339447},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36919915676116943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24614965915679932},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802727","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1646289414","https://openalex.org/W1724370735","https://openalex.org/W2168027532","https://openalex.org/W2222512263","https://openalex.org/W2560504659","https://openalex.org/W2963105220","https://openalex.org/W2966735560","https://openalex.org/W2968945909","https://openalex.org/W3131411499","https://openalex.org/W3145762295","https://openalex.org/W3186317065","https://openalex.org/W4205451316","https://openalex.org/W4205749794","https://openalex.org/W4312744983","https://openalex.org/W4313173809","https://openalex.org/W4315472357","https://openalex.org/W4315606134","https://openalex.org/W4377971355","https://openalex.org/W4383108357","https://openalex.org/W4386085840","https://openalex.org/W6637131181","https://openalex.org/W6681158678","https://openalex.org/W6801468180"],"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/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2906946336"],"abstract_inverted_index":{"This":[0,25],"paper":[1],"proposes":[2],"a":[3,225],"LiDAR-based":[4],"goal-seeking":[5,196],"and":[6,22,42,103,108,179,209,216,231,244],"exploration":[7,185],"framework,":[8],"addressing":[9],"the":[10,43,54,57,67,76,88,99,109,116,119,124,133,157,171,184,192,201,234],"efficiency":[11],"of":[12,91,118,159],"online":[13,40,126,143],"obstacle":[14],"avoidance":[15],"in":[16,214],"unstructured":[17],"environments":[18,218,239],"populated":[19],"with":[20,32,62,75,93],"static":[21,102],"moving":[23],"obstacles.":[24,242],"framework":[26,206],"addresses":[27],"two":[28],"significant":[29],"challenges":[30],"associated":[31],"traditional":[33],"dynamic":[34,104,238],"control":[35],"barrier":[36],"functions":[37],"(D-CBFs):":[38],"their":[39],"construction":[41,127],"diminished":[44],"real-time":[45],"performance":[46],"caused":[47],"by":[48,71],"utilizing":[49],"multiple":[50,241],"D-CBFs.":[51],"To":[52,131],"tackle":[53,132],"first":[55],"challenge,":[56,135],"framework\u2019s":[58,222],"perception":[59],"component":[60],"begins":[61],"clustering":[63],"point":[64],"clouds":[65],"via":[66],"DBSCAN":[68],"algorithm,":[69],"followed":[70],"encapsulating":[72],"these":[73,149,168,188],"clusters":[74],"minimum":[77],"bounding":[78],"ellipses":[79],"(MBEs)":[80],"algorithm":[81],"to":[82,114,163,182,195,229],"create":[83],"elliptical":[84],"representations.":[85],"By":[86],"comparing":[87],"current":[89],"state":[90],"MBEs":[92],"those":[94],"stored":[95],"from":[96],"previous":[97],"moments,":[98],"differentiation":[100],"between":[101],"obstacles":[105],"is":[106,112],"realized,":[107],"Kalman":[110],"filter":[111],"utilized":[113],"predict":[115],"movements":[117],"latter.":[120],"Such":[121],"analysis":[122],"facilitates":[123],"D-CBF\u2019s":[125],"for":[128,144],"each":[129,145],"MBE.":[130],"second":[134],"we":[136],"introduce":[137],"buffer":[138,150,169,189],"zones,":[139,170],"generating":[140],"Type-II":[141],"D-CBFs":[142,160],"identified":[146],"obstacle.":[147],"Utilizing":[148],"zones":[151,190],"as":[152,183],"activation":[153],"areas":[154],"substantially":[155],"reduces":[156],"number":[158],"that":[161,200],"need":[162],"be":[164],"activated.":[165],"Upon":[166],"entering":[167],"system":[172],"prioritizes":[173],"safety,":[174],"autonomously":[175],"navigating":[176],"safe":[177],"paths,":[178],"hence":[180],"referred":[181],"mode.":[186,197],"Exiting":[187],"triggers":[191],"system\u2019s":[193,202],"transition":[194],"We":[198],"demonstrate":[199],"states":[203],"under":[204],"this":[205],"achieve":[207],"safety":[208],"asymptotic":[210],"stabilization.":[211],"Experimental":[212],"results":[213],"simulated":[215],"real-world":[217],"have":[219],"validated":[220],"our":[221],"capability,":[223],"allowing":[224],"LiDAR-equipped":[226],"mobile":[227],"robot":[228],"efficiently":[230],"safely":[232],"reach":[233],"desired":[235],"location":[236],"within":[237],"containing":[240],"Video":[243],"code":[245],"are":[246],"available:":[247],"https://zyzhang4.wixsite.com/iros2024.":[248]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}