{"id":"https://openalex.org/W2542436733","doi":"https://doi.org/10.1109/isr.2013.6695673","title":"VFH based obstacle avoidance system for leader-following formation control","display_name":"VFH based obstacle avoidance system for leader-following formation control","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W2542436733","doi":"https://doi.org/10.1109/isr.2013.6695673","mag":"2542436733"},"language":"en","primary_location":{"id":"doi:10.1109/isr.2013.6695673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","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/A5030760350","display_name":"Insung S. Choi","orcid":"https://orcid.org/0000-0002-9546-673X"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"In-sung Choi","raw_affiliation_strings":["Korea Institute of Science and Technology, Seongbuk-gu, Seoul, KR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Seongbuk-gu, Seoul, KR","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052822694","display_name":"JongSuk Choi","orcid":"https://orcid.org/0000-0002-0399-4675"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong-suk Choi","raw_affiliation_strings":["Korea Institute of Science and Technology, Seongbuk-gu, Seoul, KR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Seongbuk-gu, Seoul, KR","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I58716616"],"apc_list":null,"apc_paid":null,"fwci":0.3774,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.71902693,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"44","issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/discontinuity","display_name":"Discontinuity (linguistics)","score":0.6515635848045349},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6490895748138428},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6195822954177856},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.594233512878418},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5874104499816895},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5777285099029541},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5657176971435547},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5618799924850464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4624967575073242},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4103895425796509},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36084333062171936},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3331347107887268},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3265289068222046},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2042149007320404},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14679640531539917},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.11380705237388611},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.10994231700897217},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.05756977200508118}],"concepts":[{"id":"https://openalex.org/C2777042112","wikidata":"https://www.wikidata.org/wiki/Q5281658","display_name":"Discontinuity (linguistics)","level":2,"score":0.6515635848045349},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6490895748138428},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6195822954177856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.594233512878418},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5874104499816895},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5777285099029541},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5657176971435547},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5618799924850464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4624967575073242},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4103895425796509},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36084333062171936},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3331347107887268},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3265289068222046},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2042149007320404},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14679640531539917},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.11380705237388611},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.10994231700897217},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.05756977200508118},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isr.2013.6695673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695673","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","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":7,"referenced_works":["https://openalex.org/W42693570","https://openalex.org/W2107595024","https://openalex.org/W2114476723","https://openalex.org/W2116360390","https://openalex.org/W2118108721","https://openalex.org/W2119959427","https://openalex.org/W2125409550"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691","https://openalex.org/W2357323510"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduce":[2],"previous":[3],"research":[4],"about":[5,14],"leader-following":[6,22],"formation":[7,23,73],"control":[8],"and":[9,12,43,76],"system":[10],"structure":[11],"explain":[13],"modification":[15],"of":[16,61,84],"VFH":[17,44,52],"algorithm":[18],"to":[19,53,81],"suitable":[20],"for":[21],"control.":[24],"Finally,":[25],"these":[26],"two":[27],"process":[28],"are":[29],"integrated":[30],"by":[31],"our":[32,85],"proposed":[33,69],"method.":[34,74],"The":[35],"robot":[36],"is":[37,50,57],"running":[38,48],"as":[39],"(d,\u03d5)":[40,54],"-control":[41],"mode":[42,45,49],"alternately.":[46],"When":[47],"changed":[51],"-control,":[55],"discontinuity":[56],"occurred":[58],"in":[59,72],"velocity":[60],"the":[62],"robot.":[63],"To":[64],"solve":[65],"this":[66],"problem,":[67],"we":[68],"gradual":[70],"change":[71],"Simulation":[75],"outdoor":[77],"experiment":[78],"result":[79],"used":[80],"confirm":[82],"performance":[83],"proposal.":[86]},"counts_by_year":[{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
