{"id":"https://openalex.org/W4416748428","doi":"https://doi.org/10.1109/iros60139.2025.11247136","title":"DGVO: A Dynamically Constrained Gradient Velocity Obstacle Approach for Mobile Robots in Dynamic Environments","display_name":"DGVO: A Dynamically Constrained Gradient Velocity Obstacle Approach for Mobile Robots in Dynamic Environments","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748428","doi":"https://doi.org/10.1109/iros60139.2025.11247136"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247136","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":"conference-paper","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/A5019205211","display_name":"Bowen Xiao","orcid":"https://orcid.org/0000-0001-6766-714X"},"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":"Bowen Xiao","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060"],"raw_orcid":null,"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/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"],"raw_orcid":null,"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/A5115603633","display_name":"Danyu Zhang","orcid":"https://orcid.org/0000-0002-0694-0306"},"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":"Danyu Zhang","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060"],"raw_orcid":null,"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":null,"display_name":"Peiyan Xie","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":"Peiyan Xie","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060"],"raw_orcid":null,"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/A5100352794","display_name":"Xinyu Wang","orcid":"https://orcid.org/0000-0002-4763-1315"},"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":"Xinyu Wang","raw_affiliation_strings":["Shenzhen University,College of Mechatronics and Control Engineering,Shenzhen,China,518060"],"raw_orcid":null,"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/A5014861529","display_name":"Ruocheng Li","orcid":null},"institutions":[{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruocheng Li","raw_affiliation_strings":["Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China,518107"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ),Shenzhen,China,518107","institution_ids":["https://openalex.org/I4210136793"]}]}],"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":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"19675","last_page":"19682"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.857699990272522,"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":0.857699990272522,"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":0.03319999948143959,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.024700000882148743,"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/kinematics","display_name":"Kinematics","score":0.703499972820282},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6798999905586243},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6703000068664551},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5842000246047974},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5698000192642212},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.5516999959945679},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5250999927520752},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5212000012397766},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.43720000982284546},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.41440001130104065}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.703499972820282},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6798999905586243},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6703000068664551},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5842000246047974},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5698000192642212},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.559499979019165},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.5516999959945679},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5250999927520752},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5212000012397766},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.43720000982284546},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.41440001130104065},{"id":"https://openalex.org/C91188154","wikidata":"https://www.wikidata.org/wiki/Q186247","display_name":"Vector field","level":2,"score":0.39480000734329224},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.36820000410079956},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.35280001163482666},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3431999981403351},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33250001072883606},{"id":"https://openalex.org/C115680565","wikidata":"https://www.wikidata.org/wiki/Q5977448","display_name":"Gradient method","level":2,"score":0.32710000872612},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3190999925136566},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3142000138759613},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3124000132083893},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3122999966144562},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.30550000071525574},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3050000071525574},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2976999878883362},{"id":"https://openalex.org/C177067428","wikidata":"https://www.wikidata.org/wiki/Q17013331","display_name":"Feasible region","level":2,"score":0.2872999906539917},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2782999873161316},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.274399995803833},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.2612999975681305},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.25760000944137573},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247136","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":27,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1578293866","https://openalex.org/W2000365432","https://openalex.org/W2000790002","https://openalex.org/W2057992256","https://openalex.org/W2117211893","https://openalex.org/W2142943472","https://openalex.org/W2177274602","https://openalex.org/W2790268363","https://openalex.org/W2963105220","https://openalex.org/W2968945909","https://openalex.org/W3035909763","https://openalex.org/W3045686492","https://openalex.org/W3128130598","https://openalex.org/W3130506077","https://openalex.org/W3138748647","https://openalex.org/W3164088261","https://openalex.org/W3186317065","https://openalex.org/W4205960866","https://openalex.org/W4315606134","https://openalex.org/W4383108357","https://openalex.org/W4389317782","https://openalex.org/W4390493069","https://openalex.org/W4401907572","https://openalex.org/W4402215436","https://openalex.org/W4403353798","https://openalex.org/W4406991712"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,66,101],"propose":[4,67],"a":[5,24,68],"framework":[6,22,117],"based":[7,35],"on":[8,36,99],"velocity":[9,33],"obstacles":[10],"to":[11,31,79,109,135],"address":[12],"dynamic":[13],"obstacle":[14],"avoidance":[15],"problem":[16,108],"for":[17,85,125],"constrained":[18,127],"mobile":[19,86,96,128],"robots.":[20,87],"The":[21,151],"establishes":[23],"nonlinear":[25],"mapping":[26,45],"from":[27],"the":[28,32,37,47,53,59,64,72,81,90,95,145,148,154,161],"control":[29],"domain":[30],"space":[34],"robot\u2019s":[38],"kinematic":[39],"model":[40],"and":[41,130,140],"input":[42],"constraints.":[43],"This":[44,116],"defines":[46],"Velocity":[48,76],"Feasible":[49],"Region":[50],"(VFR)":[51],"as":[52],"set":[54],"of":[55,94,122,147,153],"reachable":[56],"velocities":[57,112,124],"at":[58,160],"next":[60],"time":[61],"step.":[62],"Utilizing":[63],"VFR,":[65],"gradient":[69,105],"field,":[70],"called":[71],"Dynamically":[73],"Constrained":[74],"Gradient":[75],"Obstacle":[77],"(DGVO),":[78],"represent":[80],"feasible":[82,92],"motion":[83],"region":[84,93],"DGVO":[88],"preserves":[89],"original":[91],"robot.":[97],"Based":[98],"DGVO,":[100],"formulate":[102],"an":[103],"unconstrained":[104],"descent":[106],"optimization":[107],"compute":[110],"collision-free":[111,123],"in":[113],"real":[114],"time.":[115],"enables":[118],"real-time":[119],"online":[120],"computation":[121],"any":[126],"robot,":[129],"it":[131],"exhibits":[132],"strong":[133],"robustness":[134],"sensor":[136],"noise.":[137],"Extensive":[138],"simulations":[139],"real-world":[141],"experiments":[142],"have":[143],"validated":[144],"effectiveness":[146],"proposed":[149],"method.":[150],"introduction":[152],"entire":[155],"work":[156],"can":[157],"be":[158],"found":[159],"following":[162],"link:":[163],"https://youtu.be/HrTNTSOhKvE.":[164]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
