{"id":"https://openalex.org/W2171353551","doi":"https://doi.org/10.1109/robot.2003.1241967","title":"Obstacle avoidance in formation","display_name":"Obstacle avoidance in formation","publication_year":2004,"publication_date":"2004-03-22","ids":{"openalex":"https://openalex.org/W2171353551","doi":"https://doi.org/10.1109/robot.2003.1241967","mag":"2171353551"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1241967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241967","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","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/A5070754732","display_name":"Petter \u00d6gren","orcid":"https://orcid.org/0000-0002-7714-928X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"P. Ogren","raw_affiliation_strings":["Optimization and Systems Theory, Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Optimization and Systems Theory, Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032304399","display_name":"Naomi Ehrich Leonard","orcid":"https://orcid.org/0000-0002-5328-3871"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N.E. Leonard","raw_affiliation_strings":["Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ, USA","institution_ids":["https://openalex.org/I20089843"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.2874,"has_fulltext":false,"cited_by_count":110,"citation_normalized_percentile":{"value":0.9808513,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2492","last_page":"2497"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.8672057390213013},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.8473615050315857},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.638145387172699},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6216476559638977},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.586320698261261},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5825615525245667},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5748203992843628},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.556086003780365},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5441778898239136},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5034880042076111},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4776943027973175},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4697190821170807},{"id":"https://openalex.org/keywords/extension","display_name":"Extension (predicate logic)","score":0.4379277229309082},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3965388834476471},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35937753319740295},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28828293085098267},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20083287358283997},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18936893343925476},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.07905063033103943}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8672057390213013},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8473615050315857},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.638145387172699},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6216476559638977},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.586320698261261},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5825615525245667},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5748203992843628},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.556086003780365},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5441778898239136},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5034880042076111},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4776943027973175},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4697190821170807},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.4379277229309082},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3965388834476471},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35937753319740295},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28828293085098267},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20083287358283997},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18936893343925476},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.07905063033103943},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2003.1241967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241967","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1596951786","https://openalex.org/W1888064853","https://openalex.org/W1963903137","https://openalex.org/W1988505764","https://openalex.org/W2067461601","https://openalex.org/W2097154662","https://openalex.org/W2097346851","https://openalex.org/W2099397914","https://openalex.org/W2110144538","https://openalex.org/W2117211893","https://openalex.org/W2130647945","https://openalex.org/W2131505299","https://openalex.org/W2135713666","https://openalex.org/W2163431256","https://openalex.org/W4242811155"],"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":{"In":[0],"this":[1,44],"paper,":[2],"we":[3,56],"present":[4],"an":[5],"approach":[6,70,98],"to":[7,25,71,76,88],"obstacle":[8,72,110],"avoidance":[9,73],"for":[10,46],"a":[11,28,36,47,58,66,103,117],"group":[12,23],"of":[13,21,49,61,81,95,106],"unmanned":[14],"vehicles":[15],"moving":[16],"in":[17,74],"formation.":[18,41],"The":[19],"goal":[20,90],"the":[22,40,82,89,96,107,114],"is":[24],"move":[26],"through":[27],"partially":[29],"unknown":[30],"environment":[31],"with":[32,65,116],"obstacles":[33],"and":[34,79],"reach":[35],"destination":[37],"while":[38],"maintaining":[39],"We":[42,112],"address":[43],"problem":[45],"class":[48,60],"dynamic":[50,68],"unicycle":[51],"robots.":[52],"Using":[53],"Input-to-State":[54],"Stability":[55],"combine":[57],"general":[59],"formation-keeping":[62],"control":[63],"schemes":[64],"new":[67],"window":[69],"order":[75],"guarantee":[77],"safety":[78],"stability":[80],"formation":[83,104],"as":[84,86,102],"well":[85],"convergence":[87],"position.":[91],"An":[92],"important":[93],"part":[94],"proposed":[97],"can":[99],"be":[100],"seen":[101],"extension":[105],"configuration":[108],"space":[109],"concept.":[111],"illustrate":[113],"method":[115],"challenging":[118],"example.":[119]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":8}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}