{"id":"https://openalex.org/W7128815216","doi":"https://doi.org/10.1109/lra.2026.3664595","title":"Differentiable Obstacle Avoidance Framework for Robot Safety","display_name":"Differentiable Obstacle Avoidance Framework for Robot Safety","publication_year":2026,"publication_date":"2026-02-13","ids":{"openalex":"https://openalex.org/W7128815216","doi":"https://doi.org/10.1109/lra.2026.3664595"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3664595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3664595","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125951863","display_name":"Louis Fernandez","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Louis Fernandez","raw_affiliation_strings":["School of Mechanical and Mechatronic Engineering, University of Technology Sydney, Ultimo, NSW, Australia"],"raw_orcid":"https://orcid.org/0009-0008-8923-9216","affiliations":[{"raw_affiliation_string":"School of Mechanical and Mechatronic Engineering, University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031338128","display_name":"Sheila Sutjipto","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Sheila Sutjipto","raw_affiliation_strings":["School of Mechanical and Mechatronic Engineering, University of Technology Sydney, Ultimo, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-0697-0265","affiliations":[{"raw_affiliation_string":"School of Mechanical and Mechatronic Engineering, University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082893026","display_name":"Victor Hernandez Moreno","orcid":"https://orcid.org/0000-0002-6038-6959"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Victor Hernandez Moreno","raw_affiliation_strings":["School of Mechanical and Mechatronic Engineering, University of Technology Sydney, Ultimo, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-6038-6959","affiliations":[{"raw_affiliation_string":"School of Mechanical and Mechatronic Engineering, University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125913101","display_name":"Anh Minh Tu","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Anh Minh Tu","raw_affiliation_strings":["School of Mechanical and Mechatronic Engineering, University of Technology Sydney, Ultimo, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Mechatronic Engineering, University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5125923367","display_name":"Marc G. Carmichael","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Marc G. Carmichael","raw_affiliation_strings":["School of Mechanical and Mechatronic Engineering, University of Technology Sydney, Ultimo, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0001-8439-0074","affiliations":[{"raw_affiliation_string":"School of Mechanical and Mechatronic Engineering, University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18483349,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"4","first_page":"5158","last_page":"5165"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6212999820709229,"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":0.6212999820709229,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.09380000084638596,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.07349999994039536,"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":0.7821999788284302},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6599000096321106},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5716000199317932},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5627999901771545},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5611000061035156},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.4869999885559082},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.44020000100135803},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.42399999499320984},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.40869998931884766}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7821999788284302},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6599000096321106},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.578000009059906},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5716000199317932},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5627999901771545},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5611000061035156},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.4869999885559082},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44020000100135803},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.44020000100135803},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.42399999499320984},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40939998626708984},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.40869998931884766},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.36250001192092896},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36169999837875366},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3547999858856201},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34220001101493835},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33219999074935913},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31869998574256897},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3027999997138977},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.2985000014305115},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.2955999970436096},{"id":"https://openalex.org/C2776502983","wikidata":"https://www.wikidata.org/wiki/Q690182","display_name":"Contrast (vision)","level":2,"score":0.2849000096321106},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.28029999136924744},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.275299996137619},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.26440000534057617},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.2524000108242035}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3664595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3664595","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Obstacle":[0],"avoidance":[1,31,78],"is":[2,56,90,94,168],"a":[3,80,97,172],"fundamental":[4],"requirement":[5],"for":[6,108],"safe":[7],"and":[8,21,26,150,180],"reliable":[9],"robot":[10,174],"operation.":[11],"Due":[12],"to":[13,61,72,100,114,126,158,161],"the":[14,34,45,64,84,87,102,105,121,143,162],"lack":[15],"of":[16,19,37,47,86,104],"techniques":[17],"capable":[18],"efficiently":[20],"accurately":[22,62,149],"computing":[23],"volumetric":[24,35],"distances":[25,130],"their":[27],"derivatives,":[28],"many":[29],"obstacle":[30,77,110],"frameworks":[32],"neglect":[33],"characteristics":[36],"objects":[38],"by":[39,156],"using":[40],"points":[41],"or":[42],"spheres":[43],"as":[44],"choice":[46],"object":[48],"representation.":[49],"To":[50],"overcome":[51],"this,":[52],"an":[53],"optimisation-based":[54],"method":[55,81],"used":[57],"in":[58],"this":[59],"paper":[60],"compute":[63,128],"minimum":[65,88],"distance":[66,89],"between":[67,131],"convex":[68,133],"shapes.":[69,134],"In":[70,112],"order":[71],"enable":[73],"integration":[74],"with":[75],"gradient-based":[76],"algorithms,":[79],"that":[82,116,142],"calculates":[83],"gradient":[85],"introduced.":[91],"This":[92],"information":[93],"incorporated":[95],"into":[96],"Quadratic":[98],"Program":[99],"demonstrate":[101,141],"effectiveness":[103],"proposed":[106,122,144,166],"approach":[107,145],"online":[109],"avoidance.":[111],"contrast":[113],"methods":[115],"rely":[117],"on":[118,171,182],"closed-form":[119],"expressions,":[120],"framework":[123,167],"leverages":[124],"optimisation":[125],"simultaneously":[127],"pairwise":[129],"multiple":[132],"Simulation":[135],"results,":[136],"averaged":[137],"over":[138],"1000":[139],"runs,":[140],"completes":[146],"tasks":[147],"more":[148],"consistently,":[151],"improving":[152],"trajectory":[153],"tracking":[154],"accuracy":[155],"up":[157],"35%":[159],"compared":[160],"state-of-the-art":[163],"baseline.":[164],"The":[165],"further":[169],"validated":[170],"physical":[173],"system,":[175],"confirming":[176],"its":[177],"practical":[178],"applicability":[179],"robustness":[181],"real":[183],"hardware.":[184]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-02-14T00:00:00"}
