{"id":"https://openalex.org/W2570708527","doi":"https://doi.org/10.1109/lra.2017.2651172","title":"Dynamical System Based Robotic Motion Generation With Obstacle Avoidance","display_name":"Dynamical System Based Robotic Motion Generation With Obstacle Avoidance","publication_year":2017,"publication_date":"2017-01-10","ids":{"openalex":"https://openalex.org/W2570708527","doi":"https://doi.org/10.1109/lra.2017.2651172","mag":"2570708527"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2651172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2651172","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3497878","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029019918","display_name":"Sotiris Stavridis","orcid":null},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":true,"raw_author_name":"Sotiris Stavridis","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki, Greece","Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessalon\u00edki, Greece"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessalon\u00edki, Greece","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081966018","display_name":"Dimitrios Papageorgiou","orcid":"https://orcid.org/0000-0003-0361-8757"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]},{"id":"https://openalex.org/I4210134249","display_name":"Centre for Research and Technology Hellas","ror":"https://ror.org/03bndpq63","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210134249"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Dimitrios Papageorgiou","raw_affiliation_strings":["Center for Research and Technology Hellas, Thermi, Greece","Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki, Greece"],"affiliations":[{"raw_affiliation_string":"Center for Research and Technology Hellas, Thermi, Greece","institution_ids":["https://openalex.org/I4210134249"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079421769","display_name":"Zoe Doulgeri","orcid":"https://orcid.org/0000-0003-2188-9358"},"institutions":[{"id":"https://openalex.org/I4210134249","display_name":"Centre for Research and Technology Hellas","ror":"https://ror.org/03bndpq63","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210134249"]},{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Zoe Doulgeri","raw_affiliation_strings":["Center for Research and Technology Hellas, Thermi, Greece","Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki, Greece"],"affiliations":[{"raw_affiliation_string":"Center for Research and Technology Hellas, Thermi, Greece","institution_ids":["https://openalex.org/I4210134249"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5029019918"],"corresponding_institution_ids":["https://openalex.org/I21370196"],"apc_list":null,"apc_paid":null,"fwci":0.8314,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.81903327,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"2","issue":"2","first_page":"712","last_page":"718"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994000196456909,"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":0.9991999864578247,"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-avoidance","display_name":"Obstacle avoidance","score":0.8596887588500977},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7042576670646667},{"id":"https://openalex.org/keywords/stability-theory","display_name":"Stability theory","score":0.6840671896934509},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6089465618133545},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.5864280462265015},{"id":"https://openalex.org/keywords/dynamical-system","display_name":"Dynamical system (definition)","score":0.5643962621688843},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5492567420005798},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5322641730308533},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.51029372215271},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.45736604928970337},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.4322768449783325},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4253464937210083},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33570826053619385},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30582404136657715},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2214938998222351},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1820274293422699},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13833078742027283},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.13515934348106384},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.11596345901489258},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08957266807556152},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.06308385729789734}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8596887588500977},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7042576670646667},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.6840671896934509},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6089465618133545},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.5864280462265015},{"id":"https://openalex.org/C33962884","wikidata":"https://www.wikidata.org/wiki/Q378637","display_name":"Dynamical system (definition)","level":3,"score":0.5643962621688843},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5492567420005798},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5322641730308533},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.51029372215271},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.45736604928970337},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.4322768449783325},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4253464937210083},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33570826053619385},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30582404136657715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2214938998222351},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1820274293422699},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13833078742027283},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.13515934348106384},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.11596345901489258},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08957266807556152},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.06308385729789734},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/lra.2017.2651172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2651172","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:zenodo.org:3497878","is_oa":true,"landing_page_url":"https://zenodo.org/record/3497878","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3497878","is_oa":true,"landing_page_url":"https://zenodo.org/record/3497878","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1994691148","https://openalex.org/W1997696996","https://openalex.org/W2005731026","https://openalex.org/W2008137931","https://openalex.org/W2019606703","https://openalex.org/W2039166158","https://openalex.org/W2078623127","https://openalex.org/W2097121541","https://openalex.org/W2113698995","https://openalex.org/W2123967136","https://openalex.org/W2129202194","https://openalex.org/W2154847670","https://openalex.org/W2211562808","https://openalex.org/W2266847535","https://openalex.org/W2315724819","https://openalex.org/W6678157427"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2624388109","https://openalex.org/W2022120107","https://openalex.org/W4322628047","https://openalex.org/W2570708527"],"abstract_inverted_index":{"The":[0],"problem":[1],"of":[2,33],"real-time":[3],"motion":[4],"generation":[5],"to":[6,71],"a":[7,22],"target":[8,20,64],"with":[9],"obstacle":[10,53],"avoidance":[11,54],"is":[12,28,41,50],"considered.":[13],"A":[14],"second-order":[15],"dynamical":[16,56,82],"system":[17,57,83],"having":[18],"the":[19,31,44,63,73,76,80,85,94],"as":[21],"unique":[23],"globally":[24],"asymptotically":[25,66],"stable":[26],"equilibrium":[27],"modified":[29],"in":[30],"presence":[32],"obstacles":[34],"by":[35],"an":[36],"additive":[37],"signal":[38],"whose":[39],"design":[40],"based":[42],"on":[43],"prescribed":[45],"performance":[46],"control":[47],"methodology.":[48],"It":[49],"proved":[51],"that":[52,62],"and":[55,61,84],"stability":[58],"are":[59,69],"guaranteed":[60],"remains":[65],"stable.":[67],"Simulations":[68],"utilized":[70],"reveal":[72],"cases":[74],"where":[75],"proposed":[77],"scheme":[78],"outperforms":[79],"modulated":[81],"constrained":[86],"optimization":[87],"priority":[88],"framework.":[89],"Experimental":[90],"results":[91],"further":[92],"validate":[93],"theoretical":[95],"findings.":[96]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":31},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}
