{"id":"https://openalex.org/W4416750422","doi":"https://doi.org/10.1109/iros60139.2025.11246903","title":"Prescribed-Time Safe Pursuit Control with Dynamic Obstacle and Occlusion Avoidance","display_name":"Prescribed-Time Safe Pursuit Control with Dynamic Obstacle and Occlusion Avoidance","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750422","doi":"https://doi.org/10.1109/iros60139.2025.11246903"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246903","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246903","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/A5100414983","display_name":"Zheng Li","orcid":"https://orcid.org/0009-0001-4604-6261"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zheng Li","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071128556","display_name":"Xiaodong Shao","orcid":"https://orcid.org/0000-0003-2640-5594"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaodong Shao","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100327750","display_name":"Haoran Li","orcid":"https://orcid.org/0009-0004-3833-4564"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]},{"id":"https://openalex.org/I105126617","display_name":"Zhejiang International Studies University","ror":"https://ror.org/01vwvvq12","country_code":"CN","type":"education","lineage":["https://openalex.org/I105126617"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoran Li","raw_affiliation_strings":["Beihang University,Hangzhou International Innovation Institute,Hangzhou,China,311115"],"affiliations":[{"raw_affiliation_string":"Beihang University,Hangzhou International Innovation Institute,Hangzhou,China,311115","institution_ids":["https://openalex.org/I105126617","https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056294093","display_name":"Dongyu Li","orcid":"https://orcid.org/0000-0001-8338-0536"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongyu Li","raw_affiliation_strings":["Beihang University,School of Cyber Science and Technology,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Cyber Science and Technology,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101625708","display_name":"Qinglei Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinglei Hu","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100414983"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.37126375,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5394","last_page":"5400"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.2732999920845032,"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":0.2732999920845032,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.13050000369548798,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.07609999924898148,"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/control-theory","display_name":"Control theory (sociology)","score":0.6963000297546387},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6586999893188477},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6384999752044678},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6358000040054321},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4887000024318695},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48840001225471497},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4537000060081482},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.4510999917984009},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.41659998893737793}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6963000297546387},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6586999893188477},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6384999752044678},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6358000040054321},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6090999841690063},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4887000024318695},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48840001225471497},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4537000060081482},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.4510999917984009},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.41659998893737793},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4099999964237213},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.40779998898506165},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3903000056743622},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3637999892234802},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.3409999907016754},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3407999873161316},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.33090001344680786},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.32120001316070557},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31200000643730164},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3089999854564667},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3050999939441681},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3021000027656555},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.29980000853538513},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.29350000619888306},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.28850001096725464},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.259799987077713}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246903","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246903","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W1975307829","https://openalex.org/W2015113370","https://openalex.org/W2060446060","https://openalex.org/W2138846859","https://openalex.org/W2166707193","https://openalex.org/W2177274602","https://openalex.org/W2607984995","https://openalex.org/W2732330082","https://openalex.org/W2738417046","https://openalex.org/W2892140898","https://openalex.org/W3007327131","https://openalex.org/W3011589233","https://openalex.org/W3033161759","https://openalex.org/W3119595474","https://openalex.org/W3124242280","https://openalex.org/W4226049471","https://openalex.org/W4236251699","https://openalex.org/W4285059376","https://openalex.org/W4285289379","https://openalex.org/W4288059604","https://openalex.org/W4296915802","https://openalex.org/W4321380890","https://openalex.org/W4321609144","https://openalex.org/W4393140099","https://openalex.org/W4393154611","https://openalex.org/W4400354820","https://openalex.org/W4400810665"],"related_works":[],"abstract_inverted_index":{"Performing":[0],"target":[1,16],"tracking":[2,26],"and":[3,48,58,115,122],"surveillance":[4],"in":[5,136],"dynamic":[6,31],"obstacle":[7],"environments":[8],"requires":[9],"maintaining":[10],"continuous":[11],"visual":[12],"focus":[13],"on":[14,90],"the":[15,35,45,69,126,129],"while":[17,40],"ensuring":[18],"collision":[19],"avoidance.":[20],"This":[21],"paper":[22],"presents":[23],"a":[24,65,84,98,109,137],"safety-critical":[25],"control":[27,78],"method":[28,74,131],"that":[29],"ensures":[30],"obstacles":[32],"remain":[33],"outside":[34],"camera\u2019s":[36],"line":[37],"of":[38,118,128],"sight":[39],"simultaneously":[41],"avoiding":[42],"collisions":[43],"between":[44],"chaser":[46],"vehicle":[47],"obstacles.":[49],"A":[50],"novel":[51],"real-time":[52],"occlusion":[53],"detection":[54],"function":[55],"is":[56,106],"developed,":[57],"motion":[59],"constraints":[60],"are":[61],"systematically":[62],"integrated":[63],"using":[64],"hybrid":[66],"framework":[67],"combining":[68],"artificial":[70],"potential":[71],"field":[72],"(APF)":[73],"with":[75],"an":[76],"observer-based":[77],"strategy.":[79],"To":[80],"address":[81],"temporal-sensitive":[82],"tasks,":[83],"prescribed":[85,99],"time":[86,100],"controller":[87],"(PTC)":[88],"based":[89],"time-scale":[91],"transformation":[92],"technique":[93],"has":[94],"been":[95],"proposed.":[96],"Furthermore,":[97],"linear":[101],"extended":[102],"state":[103],"observer":[104],"(PTESO)":[105],"proposed,":[107],"featuring":[108],"simplified":[110,138],"structure":[111],"to":[112],"enable":[113],"rapid":[114],"accurate":[116],"estimation":[117],"unknown":[119],"environmental":[120],"disturbances":[121],"non-linear":[123],"terms.":[124],"Finally,":[125],"effectiveness":[127],"proposed":[130],"was":[132],"verified":[133],"via":[134],"simulation":[135],"physical":[139],"scenario.":[140]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}