{"id":"https://openalex.org/W2590963674","doi":"https://doi.org/10.1109/simpar.2016.7862402","title":"Collision avoidance by IPMC actuated robotic fish using the collision cone approach","display_name":"Collision avoidance by IPMC actuated robotic fish using the collision cone approach","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2590963674","doi":"https://doi.org/10.1109/simpar.2016.7862402","mag":"2590963674"},"language":"en","primary_location":{"id":"doi:10.1109/simpar.2016.7862402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/simpar.2016.7862402","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","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/A5064654722","display_name":"Vishwamithra Sunkara","orcid":"https://orcid.org/0000-0001-9847-8579"},"institutions":[{"id":"https://openalex.org/I39587148","display_name":"Wichita State University","ror":"https://ror.org/00c4e7y75","country_code":"US","type":"education","lineage":["https://openalex.org/I39587148"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"V. Sunkara","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Wichita State University, Wichita, KS, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Wichita State University, Wichita, KS, USA","institution_ids":["https://openalex.org/I39587148"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085681560","display_name":"Zi-Xing Ye","orcid":null},"institutions":[{"id":"https://openalex.org/I39587148","display_name":"Wichita State University","ror":"https://ror.org/00c4e7y75","country_code":"US","type":"education","lineage":["https://openalex.org/I39587148"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Z. Ye","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Wichita State University, Wichita, KS, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Wichita State University, Wichita, KS, USA","institution_ids":["https://openalex.org/I39587148"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080258275","display_name":"Animesh Chakravarthy","orcid":"https://orcid.org/0000-0001-7681-4084"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"A. Chakravarthy","raw_affiliation_strings":["Aerospace Engineering and Electrical Engineering, Wichita State University, Wichita, KS, USA"],"affiliations":[{"raw_affiliation_string":"Aerospace Engineering and Electrical Engineering, Wichita State University, Wichita, KS, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013461817","display_name":"Zhiang Chen","orcid":"https://orcid.org/0000-0002-7071-2965"},"institutions":[{"id":"https://openalex.org/I39587148","display_name":"Wichita State University","ror":"https://ror.org/00c4e7y75","country_code":"US","type":"education","lineage":["https://openalex.org/I39587148"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Z. Chen","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Wichita State University, Wichita, KS, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Wichita State University, Wichita, KS, USA","institution_ids":["https://openalex.org/I39587148"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5064654722"],"corresponding_institution_ids":["https://openalex.org/I39587148"],"apc_list":null,"apc_paid":null,"fwci":0.3498,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.66221419,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"8","issue":null,"first_page":"238","last_page":"245"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11608","display_name":"Dielectric materials and actuators","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11608","display_name":"Dielectric materials and actuators","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","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"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7920410633087158},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7177021503448486},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7101842761039734},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6550275087356567},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6484891772270203},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.497008353471756},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4672629237174988},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43850481510162354},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.4317163825035095},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.42298567295074463},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.27038145065307617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2354804277420044},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10275322198867798}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7920410633087158},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7177021503448486},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7101842761039734},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6550275087356567},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6484891772270203},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.497008353471756},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4672629237174988},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43850481510162354},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.4317163825035095},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.42298567295074463},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.27038145065307617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2354804277420044},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10275322198867798},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/simpar.2016.7862402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/simpar.2016.7862402","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:soar.wichita.edu:10057/13851","is_oa":false,"landing_page_url":"http://hdl.handle.net/10057/13851","pdf_url":null,"source":{"id":"https://openalex.org/S4306401479","display_name":"Holmes Museum Of Anthropology (Wichita State University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39587148","host_organization_name":"Wichita State University","host_organization_lineage":["https://openalex.org/I39587148"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W288661144","https://openalex.org/W1545301666","https://openalex.org/W1964770543","https://openalex.org/W1968103386","https://openalex.org/W1971356227","https://openalex.org/W1974498890","https://openalex.org/W1981021661","https://openalex.org/W1988528700","https://openalex.org/W2002440441","https://openalex.org/W2016382353","https://openalex.org/W2039297272","https://openalex.org/W2044574818","https://openalex.org/W2063057901","https://openalex.org/W2089322635","https://openalex.org/W2096298061","https://openalex.org/W2108623852","https://openalex.org/W2120372777","https://openalex.org/W2134165475","https://openalex.org/W2136947569","https://openalex.org/W2139676030","https://openalex.org/W2147170757","https://openalex.org/W2168067086","https://openalex.org/W2291425210","https://openalex.org/W6610448203","https://openalex.org/W6632776006"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2889566344","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408"],"abstract_inverted_index":{"This":[0,68],"paper":[1],"addresses":[2],"the":[3,37,60,78,82,98,102,105,108,112,117,127,131],"problem":[4],"of":[5,36,53,101,107,116,130],"collision":[6,43,64],"avoidance":[7,65],"by":[8,21],"robotic":[9,38,103],"fish":[10,39,118],"that":[11,58,76,80],"have":[12],"one":[13],"caudal":[14],"and":[15,111,124],"two":[16],"pectoral":[17],"fins,":[18],"all":[19,81],"driven":[20],"Ionic":[22],"Polymer-Metal":[23],"Composite":[24],"(IPMC)":[25],"actuators,":[26],"which":[27,49],"are":[28,84],"often":[29],"called":[30],"artificial":[31],"muscles.":[32],"A":[33,42],"dynamic":[34,99],"model":[35,100],"is":[40,46,66,71,90],"developed.":[41],"cone":[44],"approach":[45],"employed,":[47],"using":[48],"an":[50,93],"analytical":[51],"expression":[52],"a":[54],"nonlinear":[55],"guidance":[56,88],"law":[57,89],"generates":[59],"requisite":[61],"acceleration":[62,69],"for":[63],"determined.":[67],"vector":[70],"converted":[72],"into":[73],"fin":[74],"thrusts":[75,83],"satisfy":[77],"constraint":[79],"non-negative.":[85],"The":[86],"developed":[87],"tested":[91],"on":[92],"integrated":[94,132],"simulation":[95],"setup":[96],"comprising":[97],"fish,":[104],"dynamics":[106],"IPMC":[109],"actuator":[110],"relative":[113],"velocity":[114],"kinematics":[115],"to":[119],"obstacles":[120],"in":[121],"its":[122],"path,":[123],"simulations":[125],"demonstrate":[126],"satisfactory":[128],"working":[129],"system.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}