{"id":"https://openalex.org/W2998846502","doi":"https://doi.org/10.1109/ro-man46459.2019.8956314","title":"Probabilistic obstacle avoidance and object following: An overlap of Gaussians approach","display_name":"Probabilistic obstacle avoidance and object following: An overlap of Gaussians approach","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2998846502","doi":"https://doi.org/10.1109/ro-man46459.2019.8956314","mag":"2998846502"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man46459.2019.8956314","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man46459.2019.8956314","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5076690168","display_name":"Dhaivat Bhatt","orcid":"https://orcid.org/0000-0002-7828-7529"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN","US"],"is_corresponding":false,"raw_author_name":"Dhaivat Bhatt","raw_affiliation_strings":["Affiliated with KCIS, Robotics Research Center, IIIT, Hyderabad"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Affiliated with KCIS, Robotics Research Center, IIIT, Hyderabad","institution_ids":["https://openalex.org/I65181880","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100984406","display_name":"Akash Garg","orcid":null},"institutions":[{"id":"https://openalex.org/I863896202","display_name":"Delhi Technological University","ror":"https://ror.org/01ztcvt22","country_code":"IN","type":"education","lineage":["https://openalex.org/I863896202"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Akash Garg","raw_affiliation_strings":["Affiliated with Delhi Technological University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Affiliated with Delhi Technological University","institution_ids":["https://openalex.org/I863896202"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037619813","display_name":"Bharath Gopalakrishnan","orcid":"https://orcid.org/0000-0002-4385-1310"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN","US"],"is_corresponding":false,"raw_author_name":"Bharath Gopalakrishnan","raw_affiliation_strings":["Affiliated with KCIS, Robotics Research Center, IIIT, Hyderabad"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Affiliated with KCIS, Robotics Research Center, IIIT, Hyderabad","institution_ids":["https://openalex.org/I65181880","https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075816776","display_name":"K. Madhava Krishna","orcid":"https://orcid.org/0000-0001-7846-7901"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN","US"],"is_corresponding":false,"raw_author_name":"K. Madhava Krishna","raw_affiliation_strings":["Affiliated with KCIS, Robotics Research Center, IIIT, Hyderabad"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Affiliated with KCIS, Robotics Research Center, IIIT, Hyderabad","institution_ids":["https://openalex.org/I65181880","https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"35","issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10142","display_name":"Formal Methods in Verification","score":0.98089998960495,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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":0.7883498668670654},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7121877670288086},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6850920915603638},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6087943911552429},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5484718084335327},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5362450480461121},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5145553946495056},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47282373905181885},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.44854021072387695},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4148141145706177},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35644054412841797},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34521952271461487},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.19046157598495483},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18221554160118103}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7883498668670654},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7121877670288086},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6850920915603638},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6087943911552429},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5484718084335327},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5362450480461121},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5145553946495056},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47282373905181885},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.44854021072387695},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4148141145706177},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35644054412841797},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34521952271461487},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.19046157598495483},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18221554160118103},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man46459.2019.8956314","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man46459.2019.8956314","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1505520524","https://openalex.org/W1965751196","https://openalex.org/W2002201291","https://openalex.org/W2013367727","https://openalex.org/W2014402541","https://openalex.org/W2046674048","https://openalex.org/W2054149315","https://openalex.org/W2127788848","https://openalex.org/W2138693458","https://openalex.org/W2159555929","https://openalex.org/W2167340365","https://openalex.org/W2192586580","https://openalex.org/W2200270070","https://openalex.org/W2262411477","https://openalex.org/W2465948386","https://openalex.org/W2729776805","https://openalex.org/W2738812057","https://openalex.org/W2775408149","https://openalex.org/W2792014809","https://openalex.org/W2972402028","https://openalex.org/W3110683067","https://openalex.org/W4293875273","https://openalex.org/W6679445762","https://openalex.org/W6680368953","https://openalex.org/W6692915719","https://openalex.org/W6786768871"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1],"and":[2,36,90],"obstacle":[3,52],"avoidance":[4,25],"are":[5],"core":[6],"capabilities":[7],"that":[8,26,42,63,83,100],"enable":[9],"robots":[10],"to":[11,23,119,138,175],"execute":[12],"tasks":[13],"in":[14,30,47,132,136],"the":[15,31,34,37,80,85,88,91,103,109,140,143,147,152,155],"real":[16],"world.":[17],"We":[18,39,58,150,168],"propose":[19,60],"a":[20,70,75,106],"new":[21],"approach":[22,114,145],"collision":[24],"accounts":[27],"for":[28,50],"uncertainty":[29],"states":[32],"of":[33,44,77,87,108,127,142,154],"agent":[35],"obstacles.":[38],"first":[40],"demonstrate":[41,139,151],"measures":[43],"entropy-":[45],"used":[46],"current":[48],"approaches":[49],"uncertainty-aware":[51],"avoidance-are":[53],"an":[54,61,65],"inappropriate":[55],"design":[56],"choice.":[57],"then":[59],"algorithm":[62],"solves":[64],"optimal":[66],"control":[67,110,117,122,164],"sequence":[68],"with":[69],"guaranteed":[71],"risk":[72],"bound,":[73],"using":[74],"measure":[76],"overlap":[78,104],"between":[79],"two":[81],"distributions":[82],"represent":[84],"state":[86],"robot":[89],"obstacle,":[92],"respectively.":[93],"Furthermore,":[94],"we":[95],"provide":[96],"closed":[97],"form":[98],"expressions":[99],"can":[101],"characterize":[102],"as":[105,179],"function":[107],"input.":[111],"The":[112],"proposed":[113,144,156],"enables":[115],"model-predictive":[116],"framework":[118,173],"generate":[120],"bounded-confidence":[121],"commands.":[123],"An":[124],"extensive":[125],"set":[126],"simulations":[128],"have":[129],"been":[130],"conducted":[131],"various":[133],"constrained":[134],"environments":[135],"order":[137],"efficacy":[141],"over":[146],"prior":[148],"art.":[149],"usefulness":[153],"scheme":[157],"under":[158],"tight":[159],"spaces":[160],"where":[161],"computing":[162],"risk-sensitive":[163],"maneuvers":[165],"is":[166],"vital.":[167],"also":[169],"show":[170],"how":[171],"this":[172],"generalizes":[174],"other":[176],"problems,":[177],"such":[178],"object-following.":[180]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
