{"id":"https://openalex.org/W4413822054","doi":"https://doi.org/10.1109/lcsys.2025.3604020","title":"Guaranteed Obstacle Avoidance of Convex Objects in 2-D Without Object Tracking, Environment Mapping, or Stopping","display_name":"Guaranteed Obstacle Avoidance of Convex Objects in 2-D Without Object Tracking, Environment Mapping, or Stopping","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4413822054","doi":"https://doi.org/10.1109/lcsys.2025.3604020"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2025.3604020","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2025.3604020","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-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/A5062697455","display_name":"Hasan A. Poonawala","orcid":"https://orcid.org/0000-0003-4201-4745"},"institutions":[{"id":"https://openalex.org/I143302722","display_name":"University of Kentucky","ror":"https://ror.org/02k3smh20","country_code":"US","type":"education","lineage":["https://openalex.org/I143302722"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hasan A. Poonawala","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of Kentucky, Lexington, KY, USA","Department of Mechanical and Aerospace Engineering, University of Kentucky, Lexington, KY, United States"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Kentucky, Lexington, KY, USA","institution_ids":["https://openalex.org/I143302722"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Kentucky, Lexington, KY, United States","institution_ids":["https://openalex.org/I143302722"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5062697455"],"corresponding_institution_ids":["https://openalex.org/I143302722"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.28414108,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":null,"first_page":"2169","last_page":"2174"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9925000071525574,"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/T12288","display_name":"Optimization and Search Problems","score":0.9700000286102295,"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/obstacle","display_name":"Obstacle","score":0.7450383901596069},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.6497173309326172},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6313093304634094},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.630467414855957},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6225756406784058},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6157503128051758},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5272642374038696},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5158735513687134},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.507459819316864},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.4412647783756256},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3380128741264343},{"id":"https://openalex.org/keywords/communication","display_name":"Communication","score":0.3351653218269348},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.3219975531101227},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18929794430732727},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1631840467453003},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.1296178698539734},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1270725429058075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07896268367767334}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7450383901596069},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.6497173309326172},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6313093304634094},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.630467414855957},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6225756406784058},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6157503128051758},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5272642374038696},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5158735513687134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.507459819316864},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.4412647783756256},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3380128741264343},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.3351653218269348},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.3219975531101227},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18929794430732727},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1631840467453003},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.1296178698539734},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1270725429058075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07896268367767334},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lcsys.2025.3604020","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2025.3604020","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.5799999833106995}],"awards":[],"funders":[{"id":"https://openalex.org/F4320336829","display_name":"Department of Mechanical Engineering, University of Alberta","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2097856935","https://openalex.org/W2117211893","https://openalex.org/W2141714763","https://openalex.org/W2158782408","https://openalex.org/W2296228853","https://openalex.org/W2752311604","https://openalex.org/W3145762295","https://openalex.org/W4221161265","https://openalex.org/W4383108302","https://openalex.org/W4387042048","https://openalex.org/W4389317836","https://openalex.org/W4389665961","https://openalex.org/W4391590977","https://openalex.org/W4391741307","https://openalex.org/W4394994391","https://openalex.org/W4401417422","https://openalex.org/W4405785932","https://openalex.org/W4410985943","https://openalex.org/W4411936039"],"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":[0,85],"paper":[1],"proves":[2],"that":[3,68],"a":[4,21,36,53,64,105],"simple":[5],"range-based":[6],"end-to-end":[7],"feedback":[8],"controller":[9,74,103],"avoids":[10,75],"convex":[11,48,95],"obstacles":[12],"when":[13],"its":[14],"heading":[15],"is":[16,25,88],"sufficiently":[17],"far":[18],"away":[19],"from":[20,83],"head-on":[22],"collision.":[23],"Sufficient":[24],"as":[26,28],"small":[27],"nearly,":[29],"but":[30],"not":[31],"exactly,":[32],"0":[33],"degrees":[34,45],"for":[35,46,59,90],"wall":[37],"or":[38],"circular":[39],"object":[40,79],"and":[41,56,81],"at":[42],"least":[43],"45":[44],"any":[47],"obstacle.":[49],"The":[50,73],"guarantees":[51],"use":[52],"new":[54,65],"modeling":[55],"analysis":[57],"framework":[58],"sensor-object":[60],"interaction":[61],"combined":[62],"with":[63],"barrier":[66],"function":[67],"are":[69],"the":[70,99,102],"main":[71],"contributions.":[72],"state":[76],"estimation,":[77],"mapping,":[78],"tracking,":[80],"learning":[82],"data.":[84],"guaranteed":[86],"behavior":[87,100],"useful":[89],"navigating":[91],"safely":[92],"around":[93],"arbitrary":[94],"obstacles.":[96],"We":[97],"demonstrate":[98],"of":[101],"in":[104],"simulated":[106],"navigation":[107],"scenario.":[108]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}