{"id":"https://openalex.org/W7131816297","doi":"https://doi.org/10.1109/lra.2026.3668664","title":"Manageable Convex Region Iteration Without Half-Plane Optimization for Robot Navigation in 2D Cluttered Scenes","display_name":"Manageable Convex Region Iteration Without Half-Plane Optimization for Robot Navigation in 2D Cluttered Scenes","publication_year":2026,"publication_date":"2026-02-27","ids":{"openalex":"https://openalex.org/W7131816297","doi":"https://doi.org/10.1109/lra.2026.3668664"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3668664","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3668664","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084587018","display_name":"Yinsong Qu","orcid":"https://orcid.org/0000-0002-0240-1196"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yinsong Qu","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0240-1196","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yunxiang Li","orcid":"https://orcid.org/0009-0006-2198-3052"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunxiang Li","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0006-2198-3052","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yudong Guo","orcid":"https://orcid.org/0009-0006-2244-2178"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yudong Guo","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0006-2244-2178","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127113340","display_name":"Weiyun Yi","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiyun Yi","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0004-8682-5659","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hanwen Cui","orcid":"https://orcid.org/0009-0000-4093-5773"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanwen Cui","raw_affiliation_strings":["School of Computer Science & Technology, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0000-4093-5773","affiliations":[{"raw_affiliation_string":"School of Computer Science & Technology, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121060260","display_name":"Yuezu Lv","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuezu Lv","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7757-9028","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102781479","display_name":"Shanlin Zhong","orcid":"https://orcid.org/0000-0003-3551-0839"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shanlin Zhong","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3551-0839","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5084587018"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.40498877,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"4","first_page":"4873","last_page":"4880"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.31929999589920044,"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":0.31929999589920044,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.2572000026702881,"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/T10052","display_name":"Medical Image Segmentation Techniques","score":0.17010000348091125,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6276999711990356},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6043999791145325},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.5795000195503235},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5085999965667725},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5052000284194946},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5009999871253967},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.49230000376701355},{"id":"https://openalex.org/keywords/ellipse","display_name":"Ellipse","score":0.43540000915527344},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4018000066280365},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.39430001378059387}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6276999711990356},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6043999791145325},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.5795000195503235},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5085999965667725},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5052000284194946},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5009999871253967},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.49230000376701355},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.48809999227523804},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47099998593330383},{"id":"https://openalex.org/C74261601","wikidata":"https://www.wikidata.org/wiki/Q40112","display_name":"Ellipse","level":2,"score":0.43540000915527344},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4018000066280365},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.39430001378059387},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.3815999925136566},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.3799999952316284},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.37470000982284546},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.3723999857902527},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.3720000088214874},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3513000011444092},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33410000801086426},{"id":"https://openalex.org/C111696304","wikidata":"https://www.wikidata.org/wiki/Q2303697","display_name":"Sorting","level":2,"score":0.32179999351501465},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.3197999894618988},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.31850001215934753},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.30320000648498535},{"id":"https://openalex.org/C129045301","wikidata":"https://www.wikidata.org/wiki/Q7144654","display_name":"Path length","level":2,"score":0.2994999885559082},{"id":"https://openalex.org/C79187972","wikidata":"https://www.wikidata.org/wiki/Q2654791","display_name":"Conic optimization","level":5,"score":0.2994000017642975},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.29760000109672546},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.289000004529953},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28700000047683716},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2840999960899353},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2809999883174896},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.27950000762939453},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.2791000008583069},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2741999924182892},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.27300000190734863},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.25699999928474426},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.25519999861717224}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3668664","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3668664","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1030513622","https://openalex.org/W2162991084","https://openalex.org/W2163839133","https://openalex.org/W2314624825","https://openalex.org/W2587415290","https://openalex.org/W2729186515","https://openalex.org/W2891491652","https://openalex.org/W3109702511","https://openalex.org/W3198919602","https://openalex.org/W4313049632","https://openalex.org/W4386159015","https://openalex.org/W4389665747","https://openalex.org/W4391407153","https://openalex.org/W4402904332","https://openalex.org/W4403721521","https://openalex.org/W4405429430","https://openalex.org/W4407825922","https://openalex.org/W4408710168","https://openalex.org/W4409580967","https://openalex.org/W4417456665"],"related_works":[],"abstract_inverted_index":{"To":[0],"address":[1],"path":[2,19,34,110,192],"safety":[3,116],"and":[4,65,118,181,195,205],"algorithm":[5],"efficiency":[6],"challenges":[7],"in":[8,75,142],"robot":[9],"navigation":[10],"within":[11,126,160],"complex":[12],"environments,":[13],"this":[14,127],"paper":[15],"proposes":[16],"an":[17],"integrated":[18,167],"optimization-following":[20],"framework":[21,168],"with":[22,139,144,155,190],"a":[23,44,50,115,119,156,173],"novel":[24],"Manageable":[25],"Convex":[26],"Region":[27],"Iteration":[28],"without":[29,62],"Half-Plane":[30],"Optimization":[31],"(MCRIwHPO).":[32],"The":[33,166],"planning":[35],"problem":[36],"is":[37,137,169],"modeled":[38],"as":[39],"nonlinear":[40],"optimization":[41],"to":[42,100,129],"generate":[43],"time-independent":[45],"parameterized":[46],"path.":[47],"MCRIwHPO":[48,136],"adopts":[49],"two-stage":[51],"design:":[52],"the":[53,66,70,77,90,102,150,185,202],"first":[54],"stage":[55,68],"generates":[56],"half-plane":[57],"constraints":[58],"via":[59],"ellipse":[60,91],"expansion":[61,113],"additional":[63],"optimization,":[64],"second":[67],"addresses":[69],"seed":[71],"point":[72],"inclusion":[73],"constraint":[74],"calculating":[76],"maximum-area":[78],"inscribed":[79],"ellipse,":[80],"thus":[81],"ensuring":[82],"convex":[83,97,103,152],"region":[84,98,153],"manageability.":[85],"This":[86],"design":[87],"iteratively":[88],"increases":[89],"area":[92,154],"(the":[93],"lower":[94],"bound":[95],"of":[96,106],"area)":[99],"enhance":[101],"region's":[104],"approximation":[105],"free":[107],"space.":[108],"For":[109],"following,":[111],"obstacle":[112],"reserves":[114],"threshold,":[117],"preset":[120],"performance":[121],"controller":[122],"confines":[123],"following":[124,193],"errors":[125,194],"threshold":[128],"avoid":[130],"collision":[131],"caused":[132],"by":[133],"external":[134],"disturbances.":[135],"compared":[138],"existing":[140],"algorithms":[141],"simulations":[143],"5-20":[145],"obstacles,":[146],"where":[147],"it":[148],"achieves":[149],"optimal":[151],"stable":[157,197],"computation":[158],"time":[159],"50":[161],"ms,":[162],"satisfying":[163],"real-time":[164],"requirements.":[165],"further":[170],"implemented":[171],"on":[172],"four-wheel":[174],"independent":[175],"drive":[176],"vehicle":[177,186],"for":[178],"real-world":[179],"tests,":[180],"experimental":[182],"results":[183],"show":[184],"smoothly":[187],"avoids":[188],"obstacles":[189],"prescribed":[191],"maintains":[196],"velocity":[198],"during":[199],"navigation,":[200],"verifying":[201],"framework's":[203],"effectiveness":[204],"practical":[206],"applicability.":[207]},"counts_by_year":[],"updated_date":"2026-03-12T06:13:28.667946","created_date":"2026-02-28T00:00:00"}