{"id":"https://openalex.org/W4416751114","doi":"https://doi.org/10.1109/iros60139.2025.11246676","title":"Risk Euclidean Distance-based Model Predictive Path Integral to Safety-Critical Obstacle Avoidance","display_name":"Risk Euclidean Distance-based Model Predictive Path Integral to Safety-Critical Obstacle Avoidance","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416751114","doi":"https://doi.org/10.1109/iros60139.2025.11246676"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246676","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5035422964","display_name":"Zihao Huang","orcid":"https://orcid.org/0000-0002-7443-6515"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zihao Huang","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060"],"affiliations":[{"raw_affiliation_string":"Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017487887","display_name":"Ruocheng Li","orcid":"https://orcid.org/0000-0002-2960-3628"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruocheng Li","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045134068","display_name":"Weili Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weili Chen","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060"],"affiliations":[{"raw_affiliation_string":"Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003085659","display_name":"Zitong Lin","orcid":"https://orcid.org/0000-0002-3733-4974"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zicong Lin","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060"],"affiliations":[{"raw_affiliation_string":"Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017208132","display_name":"Zhipeng Wu","orcid":"https://orcid.org/0000-0002-9889-0798"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhipeng Wu","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060"],"affiliations":[{"raw_affiliation_string":"Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100335192","display_name":"Bo Zhang","orcid":"https://orcid.org/0000-0001-7355-0941"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Zhang","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060"],"affiliations":[{"raw_affiliation_string":"Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060","institution_ids":["https://openalex.org/I180726961"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5035422964"],"corresponding_institution_ids":["https://openalex.org/I180726961"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.37180203,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1906","last_page":"1913"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.5430999994277954,"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":0.5430999994277954,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.1800999939441681,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.07429999858140945,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8521000146865845},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6919000148773193},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6682999730110168},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6256999969482422},{"id":"https://openalex.org/keywords/euclidean-distance","display_name":"Euclidean distance","score":0.6068999767303467},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6019999980926514},{"id":"https://openalex.org/keywords/euclidean-geometry","display_name":"Euclidean geometry","score":0.5117999911308289},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.47360000014305115},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4526999890804291}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8521000146865845},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6919000148773193},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6682999730110168},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6256999969482422},{"id":"https://openalex.org/C120174047","wikidata":"https://www.wikidata.org/wiki/Q847073","display_name":"Euclidean distance","level":2,"score":0.6068999767303467},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6019999980926514},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5324000120162964},{"id":"https://openalex.org/C129782007","wikidata":"https://www.wikidata.org/wiki/Q162886","display_name":"Euclidean geometry","level":2,"score":0.5117999911308289},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4909999966621399},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47360000014305115},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4526999890804291},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.451200008392334},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44769999384880066},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.427700012922287},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.40540000796318054},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4043000042438507},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37299999594688416},{"id":"https://openalex.org/C10784197","wikidata":"https://www.wikidata.org/wiki/Q233858","display_name":"Non-Euclidean geometry","level":3,"score":0.35370001196861267},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.34950000047683716},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33230000734329224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29120001196861267},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.287200003862381},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2827000021934509},{"id":"https://openalex.org/C52740198","wikidata":"https://www.wikidata.org/wiki/Q1539564","display_name":"Importance sampling","level":3,"score":0.2770000100135803},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2759999930858612},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.27090001106262207},{"id":"https://openalex.org/C197055811","wikidata":"https://www.wikidata.org/wiki/Q207522","display_name":"Probability density function","level":2,"score":0.2599000036716461},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C126980161","wikidata":"https://www.wikidata.org/wiki/Q863783","display_name":"Simulated annealing","level":2,"score":0.25529998540878296}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246676","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246676","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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"},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2002440441","https://openalex.org/W2103120971","https://openalex.org/W2117211893","https://openalex.org/W2584986912","https://openalex.org/W2963105220","https://openalex.org/W2968766113","https://openalex.org/W3004195828","https://openalex.org/W3015470607","https://openalex.org/W3045462839","https://openalex.org/W3133648073","https://openalex.org/W3205945099","https://openalex.org/W3210065386","https://openalex.org/W4206096906","https://openalex.org/W4226195072","https://openalex.org/W4226524835","https://openalex.org/W4383066227","https://openalex.org/W4383108357","https://openalex.org/W4383172048","https://openalex.org/W4385834120","https://openalex.org/W4413917178"],"related_works":[],"abstract_inverted_index":{"Sampling-based":[0],"Model":[1,8],"Predictive":[2,9],"Control":[3,84,93,100],"(MPC)":[4],"algorithms":[5],"such":[6],"as":[7],"Path":[10],"Integral":[11],"(MPPI)":[12],"excel":[13],"in":[14,28,124],"managing":[15],"nonlinear":[16],"constraints":[17],"and":[18,76,97,119,129],"complex":[19],"systems.":[20],"However,":[21],"their":[22],"conventional":[23],"sampling":[24,105],"strategies":[25],"often":[26],"result":[27],"suboptimal":[29],"local":[30],"solutions.":[31],"To":[32],"address":[33],"this":[34],"problem,":[35],"we":[36],"propose":[37],"RESM-MPPI,":[38],"a":[39,99],"novel":[40],"dynamic":[41,77,125],"obstacle":[42,109],"avoidance":[43,110],"algorithm":[44],"that":[45],"integrates":[46],"the":[47,59,82,91,115,133,136],"Risk":[48,92],"Euclidean":[49,61],"Safety":[50,62],"Metric":[51,63],"(RESM),":[52],"which":[53],"is":[54],"an":[55],"enhanced":[56],"version":[57],"of":[58,117,135],"Conventional":[60],"(CESM),":[64],"to":[65,107],"more":[66],"effectively":[67],"quantify":[68],"collision":[69],"risks":[70],"between":[71],"autonomous":[72],"mobile":[73],"robots":[74],"(AMRs)":[75],"obstacles.":[78],"Our":[79],"approach":[80],"extends":[81],"classical":[83],"Barrier":[85,94],"Function":[86,95],"(CBF)":[87],"framework":[88],"by":[89],"introducing":[90],"(RCBF)":[96],"integrating":[98],"Obstacle":[101],"Avoidance":[102],"Annealing":[103],"(COAA)":[104],"strategy":[106],"enhance":[108],"performance.":[111],"This":[112],"combination":[113],"enables":[114],"generation":[116],"safe":[118],"smooth":[120],"trajectories":[121],"for":[122],"AMRs":[123],"environments.":[126],"Sufficient":[127],"simulations":[128],"real-world":[130],"experiments":[131],"demonstrate":[132],"effectiveness":[134],"proposed":[137],"method.":[138],"Experimental":[139],"videos":[140],"are":[141],"available":[142],"at:":[143],"https://youtu.be/WUchIzz_0wU.":[144]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}