{"id":"https://openalex.org/W4400645652","doi":"https://doi.org/10.1109/lra.2024.3427548","title":"Passive Obstacle-Aware Control to Follow Desired Velocities","display_name":"Passive Obstacle-Aware Control to Follow Desired Velocities","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4400645652","doi":"https://doi.org/10.1109/lra.2024.3427548"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3427548","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3427548","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://doi.org/10.1109/lra.2024.3427548","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101634880","display_name":"Lukas Huber","orcid":"https://orcid.org/0000-0002-2471-6949"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Lukas Huber","raw_affiliation_strings":["LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Lausanne, Switzerland","LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2471-6949","affiliations":[{"raw_affiliation_string":"LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104542147","display_name":"Thibaud Trinca","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Thibaud Trinca","raw_affiliation_strings":["LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Lausanne, Switzerland","LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland"],"raw_orcid":"https://orcid.org/0009-0006-2918-2364","affiliations":[{"raw_affiliation_string":"LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044026747","display_name":"Jean-Jacques Slotine","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean-Jacques Slotine","raw_affiliation_strings":["Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Nonlinear Systems Laboratory, Massachusetts Institute of Technology, USA"],"raw_orcid":"https://orcid.org/0000-0002-7161-7812","affiliations":[{"raw_affiliation_string":"Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Nonlinear Systems Laboratory, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Lausanne, Switzerland","LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-7076-8010","affiliations":[{"raw_affiliation_string":"LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"LASA Laboratory, Swiss Federal School of Technology in Lausanne - EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101634880"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":0.4496,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.61169843,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"10","issue":"1","first_page":"144","last_page":"151"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9715999960899353,"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":0.9715999960899353,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9520000219345093,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9271000027656555,"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","display_name":"Obstacle","score":0.7855279445648193},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5114073157310486},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41351139545440674},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3436611294746399},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16074714064598083},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14183953404426575}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7855279445648193},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5114073157310486},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41351139545440674},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3436611294746399},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16074714064598083},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14183953404426575},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3427548","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3427548","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2024.3427548","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3427548","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.5899999737739563,"display_name":"Climate action"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320314628","display_name":"Society for Army Historical Research","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1594265855","https://openalex.org/W1993999483","https://openalex.org/W2017239762","https://openalex.org/W2052750413","https://openalex.org/W2057538835","https://openalex.org/W2073136132","https://openalex.org/W2076738229","https://openalex.org/W2112474089","https://openalex.org/W2125303990","https://openalex.org/W2131741815","https://openalex.org/W2161802186","https://openalex.org/W2180293407","https://openalex.org/W2244449411","https://openalex.org/W2517641405","https://openalex.org/W2909411248","https://openalex.org/W3115157241","https://openalex.org/W3129933761","https://openalex.org/W3166133078","https://openalex.org/W4210891818","https://openalex.org/W4311980902","https://openalex.org/W4389879652"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W4245435724","https://openalex.org/W2055301889","https://openalex.org/W2376554934","https://openalex.org/W2077790809"],"abstract_inverted_index":{"Evaluating":[0],"and":[1,17,35,117],"updating":[2],"the":[3,25,51,95],"obstacle":[4],"avoidance":[5],"velocity":[6],"for":[7,49,100],"an":[8],"autonomous":[9],"robot":[10,86,113],"in":[11,111],"real-time":[12],"ensures":[13,36,74],"robustness":[14],"against":[15],"noise":[16],"disturbances.":[18,81],"A":[19],"passive":[20,52],"damping":[21,65,105],"controller":[22,106],"can":[23],"obtain":[24],"desired":[26],"motion":[27],"with":[28,58,123],"a":[29,37,46,84,108],"torque-controlled":[30],"robot,":[31],"which":[32],"remains":[33],"compliant":[34],"safe":[38],"response":[39],"to":[40,63,68,94],"external":[41],"perturbations.":[42],"Here,":[43],"we":[44],"propose":[45],"novel":[47],"approach":[48,73],"designing":[50],"control":[53,114],"policy.":[54],"Our":[55,103],"algorithm":[56],"complies":[57],"obstacle-free":[59],"zones":[60],"while":[61],"transitioning":[62],"increased":[64],"near":[66],"obstacles":[67],"ensure":[69],"collision":[70,90],"avoidance.":[71],"This":[72],"stability":[75],"across":[76],"diverse":[77],"scenarios,":[78],"effectively":[79],"mitigating":[80],"Validation":[82],"on":[83],"7DoF":[85],"arm":[87],"demonstrates":[88],"superior":[89],"rejection":[91],"capabilities":[92],"compared":[93],"baseline,":[96],"underlining":[97],"its":[98],"practicality":[99],"real-world":[101],"applications.":[102],"obstacle-aware":[104],"represents":[107],"substantial":[109],"advancement":[110],"secure":[112],"within":[115],"complex":[116],"uncertain":[118],"environments.":[119],"The":[120],"extended":[121],"article":[122],"detailed":[124],"proofs":[125],"is":[126],"available":[127],"online":[128],"(Huber":[129],"et":[130],"al.,":[131],"2024).":[132]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-22T09:01:20.584952","created_date":"2025-10-10T00:00:00"}
