{"id":"https://openalex.org/W2896154143","doi":"https://doi.org/10.1109/mmar.2018.8485841","title":"Robust NMPC Schemes for the Control of Mobile Robots in the Presence of Dynamic Obstacles","display_name":"Robust NMPC Schemes for the Control of Mobile Robots in the Presence of Dynamic Obstacles","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2896154143","doi":"https://doi.org/10.1109/mmar.2018.8485841","mag":"2896154143"},"language":"en","primary_location":{"id":"doi:10.1109/mmar.2018.8485841","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2018.8485841","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","raw_type":"proceedings-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/A5058838114","display_name":"Sankaranarayanan Subramanian","orcid":"https://orcid.org/0000-0002-9688-2575"},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Sankaranarayanan Subramanian","raw_affiliation_strings":["Department of Biochemical and Chemical Engineering, Technische Universitt Dortmund, Dortmund, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Biochemical and Chemical Engineering, Technische Universitt Dortmund, Dortmund, Germany","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081165563","display_name":"Shaghayegh Nazari","orcid":null},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shaghayegh Nazari","raw_affiliation_strings":["Department of Biochemical and Chemical Engineering, Technische Universitt Dortmund, Dortmund, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Biochemical and Chemical Engineering, Technische Universitt Dortmund, Dortmund, Germany","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070410260","display_name":"Muhammad Arslan Alvi","orcid":null},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Muhammad Arslan Alvi","raw_affiliation_strings":["Department of Biochemical and Chemical Engineering, Technische Universitt Dortmund, Dortmund, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Biochemical and Chemical Engineering, Technische Universitt Dortmund, Dortmund, Germany","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033400754","display_name":"Sebastian Engell","orcid":"https://orcid.org/0000-0002-3125-9846"},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Engell","raw_affiliation_strings":["Department of Biochemical and Chemical Engineering, Technische Universitt Dortmund, Dortmund, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Biochemical and Chemical Engineering, Technische Universitt Dortmund, Dortmund, Germany","institution_ids":["https://openalex.org/I200332995"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5058838114"],"corresponding_institution_ids":["https://openalex.org/I200332995"],"apc_list":null,"apc_paid":null,"fwci":0.3134,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.62537897,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"33","issue":null,"first_page":"768","last_page":"773"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994999766349792,"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":0.9904000163078308,"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/mobile-robot","display_name":"Mobile robot","score":0.7099934816360474},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6776479482650757},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5678851008415222},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4887211322784424},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.446943998336792},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4167032241821289},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.41173118352890015},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3755109906196594},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.22286397218704224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20653295516967773},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14567121863365173},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.09812343120574951}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7099934816360474},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6776479482650757},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5678851008415222},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4887211322784424},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.446943998336792},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4167032241821289},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.41173118352890015},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3755109906196594},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.22286397218704224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20653295516967773},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14567121863365173},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.09812343120574951},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar.2018.8485841","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2018.8485841","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W123646622","https://openalex.org/W1484387568","https://openalex.org/W1807258779","https://openalex.org/W1983555960","https://openalex.org/W1992660349","https://openalex.org/W2001570019","https://openalex.org/W2028678875","https://openalex.org/W2054058691","https://openalex.org/W2067716288","https://openalex.org/W2103120971","https://openalex.org/W2117211893","https://openalex.org/W2122439876","https://openalex.org/W2125409550","https://openalex.org/W2127617835","https://openalex.org/W2402623148","https://openalex.org/W2563700852","https://openalex.org/W4211147054","https://openalex.org/W6713403626"],"related_works":["https://openalex.org/W2908553370","https://openalex.org/W2992264723","https://openalex.org/W2768474263","https://openalex.org/W2169831518","https://openalex.org/W2091044827","https://openalex.org/W2102992329","https://openalex.org/W1566226623","https://openalex.org/W1546409188","https://openalex.org/W2551843642","https://openalex.org/W1994507243"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"there":[3],"has":[4],"been":[5],"a":[6,71,93,103,118,121],"large":[7],"increase":[8],"in":[9,55,134,148],"the":[10,26,37,50,56,62,75,81,98,126,132,135,138,163],"number":[11],"of":[12,39,52,58,77,80,111,137,165],"applications":[13],"for":[14,74],"mobile":[15,40],"robots":[16,41],"ranging":[17],"from":[18],"vacuum":[19],"cleaners":[20],"to":[21,32,36,88,96],"Mars":[22],"rovers.":[23],"Depending":[24],"on":[25],"applications,":[27],"various":[28],"challenges":[29],"still":[30],"need":[31],"be":[33,146],"addressed":[34],"related":[35],"control":[38],"and":[42,84,150],"are":[43],"being":[44],"actively":[45],"researched.":[46],"We":[47,69,91],"address":[48],"here":[49],"problem":[51,106],"collision":[53],"avoidance":[54],"presence":[57],"dynamic":[59,82,154],"obstacles":[60],"using":[61],"Nonlinear":[63],"Model":[64],"Predictive":[65],"Control":[66],"(NMPC)":[67],"framework.":[68],"use":[70],"scenario-tree":[72],"formulation":[73],"prediction":[76],"different":[78,109],"trajectories":[79,114],"obstacle":[83,113],"propose":[85,92],"two":[86],"strategies":[87,144],"avoid":[89,151],"collisions.":[90],"simple":[94],"strategy":[95,158],"obtain":[97],"controlled":[99,139],"inputs":[100],"by":[101,107,130],"solving":[102],"nominal":[104],"NMPC":[105,128],"adding":[108],"scenarios":[110],"predicted":[112],"as":[115],"constraints.":[116],"As":[117],"second":[119],"strategy,":[120],"less":[122],"conservative":[123],"approach":[124],"under":[125],"multi-stage":[127],"framework":[129],"modeling":[131],"recourse":[133],"predictions":[136],"robot":[140],"is":[141],"proposed.":[142],"Both":[143],"can":[145],"applied":[147],"real-time":[149],"collisions":[152],"with":[153],"obstacles.":[155],"The":[156],"non-conservative":[157],"shows":[159],"superior":[160],"performance":[161],"at":[162],"expense":[164],"an":[166],"increased":[167],"computational":[168],"effort.":[169]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}