{"id":"https://openalex.org/W3215473552","doi":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605408","title":"Tracking Nonlinear Model Predictive Control for Obstacle Avoidance","display_name":"Tracking Nonlinear Model Predictive Control for Obstacle Avoidance","publication_year":2021,"publication_date":"2021-10-11","ids":{"openalex":"https://openalex.org/W3215473552","doi":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605408","mag":"3215473552"},"language":"en","primary_location":{"id":"doi:10.1109/lars/sbr/wre54079.2021.9605408","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605408","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Education (WRE)","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/A5068284499","display_name":"Marcelo A. Santos","orcid":"https://orcid.org/0000-0002-7578-2217"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Marcelo A. Santos","raw_affiliation_strings":["Graduate Program in Electrical Engineering, Federal University of Minas Gerais, Belo Horizonte, MG, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate Program in Electrical Engineering, Federal University of Minas Gerais, Belo Horizonte, MG, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072233007","display_name":"Antonio Ferramosca","orcid":"https://orcid.org/0000-0003-3935-9734"},"institutions":[{"id":"https://openalex.org/I11039511","display_name":"University of Bergamo","ror":"https://ror.org/02mbd5571","country_code":"IT","type":"education","lineage":["https://openalex.org/I11039511"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Ferramosca","raw_affiliation_strings":["Department of Management, Information and Production Engineering, University of Bergamo, Dalmine (BG), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Management, Information and Production Engineering, University of Bergamo, Dalmine (BG), Italy","institution_ids":["https://openalex.org/I11039511"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044452531","display_name":"Guilherme V. Raffo","orcid":"https://orcid.org/0000-0002-1835-8380"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Guilherme V. Raffo","raw_affiliation_strings":["Department of Electronics Engineering, Federal University of Minas Gerais, Belo Horizonte, MG, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics Engineering, Federal University of Minas Gerais, Belo Horizonte, MG, Brazil","institution_ids":["https://openalex.org/I110200422"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2911,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.57455525,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"30","last_page":"35"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994999766349792,"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":0.9990000128746033,"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":0.8647506237030029},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.745117723941803},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6811195611953735},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5915359258651733},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.5400143265724182},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5284878015518188},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.521533727645874},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5032896399497986},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5024075508117676},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4808376729488373},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.457235187292099},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.43131211400032043},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40927475690841675},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3307842016220093},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20457488298416138},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15109726786613464},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13900533318519592},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.0938500463962555}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8647506237030029},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.745117723941803},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6811195611953735},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5915359258651733},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.5400143265724182},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5284878015518188},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.521533727645874},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5032896399497986},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5024075508117676},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4808376729488373},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.457235187292099},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.43131211400032043},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40927475690841675},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3307842016220093},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20457488298416138},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15109726786613464},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13900533318519592},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0938500463962555},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lars/sbr/wre54079.2021.9605408","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre54079.2021.9605408","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 Latin American Robotics Symposium (LARS), 2021 Brazilian Symposium on Robotics (SBR), and 2021 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"},{"id":"pmh:oai:aisberg.unibg.it:10446/197651","is_oa":false,"landing_page_url":"http://hdl.handle.net/10446/197651","pdf_url":null,"source":{"id":"https://openalex.org/S4377196347","display_name":"Aisberg (University of Bergamo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I11039511","host_organization_name":"University of Bergamo","host_organization_lineage":["https://openalex.org/I11039511"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320308239","display_name":"EMI","ror":"https://ror.org/01qstkr73"},{"id":"https://openalex.org/F4320316670","display_name":"Universal","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W123646622","https://openalex.org/W1536873011","https://openalex.org/W1545775168","https://openalex.org/W1976385924","https://openalex.org/W1979809452","https://openalex.org/W1995844932","https://openalex.org/W2127617835","https://openalex.org/W2134781609","https://openalex.org/W2771809894","https://openalex.org/W2792285312","https://openalex.org/W2842089854","https://openalex.org/W2883180136","https://openalex.org/W3004432115","https://openalex.org/W3037126605","https://openalex.org/W3155794842","https://openalex.org/W4296425087","https://openalex.org/W6631999685","https://openalex.org/W6842740986"],"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/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"This":[0,49,83],"work":[1],"proposes":[2],"a":[3,119],"single-layer":[4],"nonlinear":[5],"finite-":[6],"horizon":[7],"optimal":[8],"control":[9,34,45],"strategy":[10],"to":[11,52,93,124],"solve":[12],"the":[13,30,36,44,54,62,77,95,98,103,110,126],"autonomous":[14],"navigation":[15],"problem":[16,46,55],"while":[17,105],"providing":[18,106],"obstacle":[19,99],"avoidance":[20,90,100],"feature":[21,101],"in":[22,76,109],"cluttered":[23],"environments":[24],"with":[25,66,73,88],"unknown":[26],"obstacles.":[27,114],"Inspired":[28],"by":[29],"tracking":[31],"model":[32],"predictive":[33],"framework,":[35],"central":[37],"idea":[38,84],"of":[39,56,70,79,97,102,112],"including":[40],"artificial":[41],"variables":[42],"into":[43],"is":[47,85],"considered.":[48],"approach":[50],"allows":[51],"address":[53],"combining":[57],"different":[58],"objectives":[59],"and":[60,72],"provide":[61],"closed-":[63],"loop":[64],"system":[65],"an":[67,89],"enlarged":[68],"domain":[69],"attraction":[71],"feasibility":[74,107],"insurances":[75],"face":[78],"any":[80],"changing":[81],"reference.":[82],"considered":[86],"together":[87],"cost":[91],"functional":[92],"establish":[94],"basis":[96],"strategy,":[104],"insurance":[108],"presence":[111],"pop-up":[113],"Finally,":[115],"numerical":[116],"results":[117],"for":[118],"quadrotor":[120],"UAV":[121],"are":[122],"provided":[123],"corroborate":[125],"proposed":[127],"strategy.":[128]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2021-12-06T00:00:00"}