{"id":"https://openalex.org/W3128530779","doi":"https://doi.org/10.1109/tac.2021.3086329","title":"Obstacle Avoidance via Hybrid Feedback","display_name":"Obstacle Avoidance via Hybrid Feedback","publication_year":2021,"publication_date":"2021-06-03","ids":{"openalex":"https://openalex.org/W3128530779","doi":"https://doi.org/10.1109/tac.2021.3086329","mag":"3128530779"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2021.3086329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3086329","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.rug.nl/en/publications/cea62f7d-be22-4536-9968-eee7bebc9854","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024972589","display_name":"Soulaimane Berkane","orcid":"https://orcid.org/0000-0002-8718-8004"},"institutions":[{"id":"https://openalex.org/I33217400","display_name":"Universit\u00e9 du Qu\u00e9bec en Outaouais","ror":"https://ror.org/011pqxa69","country_code":"CA","type":"education","lineage":["https://openalex.org/I33217400","https://openalex.org/I49663120"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Soulaimane Berkane","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Quebec in Outaouais, Gatineau QC, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Quebec in Outaouais, Gatineau QC, Canada","institution_ids":["https://openalex.org/I33217400"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058794263","display_name":"Andrea Bisoffi","orcid":"https://orcid.org/0000-0001-5495-4481"},"institutions":[{"id":"https://openalex.org/I169381384","display_name":"University of Groningen","ror":"https://ror.org/012p63287","country_code":"NL","type":"education","lineage":["https://openalex.org/I169381384"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Andrea Bisoffi","raw_affiliation_strings":["ENTEG and the J.C. Willems Center for Systems and Control, University of Groningen, Groningen, The Netherlands"],"affiliations":[{"raw_affiliation_string":"ENTEG and the J.C. Willems Center for Systems and Control, University of Groningen, Groningen, The Netherlands","institution_ids":["https://openalex.org/I169381384"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"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":"Dimos V. Dimarogonas","raw_affiliation_strings":["Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Division of Decision and Control Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5024972589"],"corresponding_institution_ids":["https://openalex.org/I33217400"],"apc_list":null,"apc_paid":null,"fwci":2.2286,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.8959012,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"67","issue":"1","first_page":"512","last_page":"519"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994999766349792,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9984999895095825,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6918776631355286},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6084057092666626},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5754838585853577},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5741186738014221},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4764547646045685},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4487159550189972},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3796880841255188},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36702167987823486},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19585663080215454},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12169402837753296},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09965658187866211}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6918776631355286},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6084057092666626},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5754838585853577},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5741186738014221},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4764547646045685},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4487159550189972},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3796880841255188},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36702167987823486},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19585663080215454},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12169402837753296},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09965658187866211},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/tac.2021.3086329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3086329","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:pure.rug.nl:openaire/cea62f7d-be22-4536-9968-eee7bebc9854","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/cea62f7d-be22-4536-9968-eee7bebc9854","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Berkane, S, Bisoffi, A & Dimarogonas, D V 2022, 'Obstacle Avoidance via Hybrid Feedback', IEEE Transactions on Automatic Control, vol. 67, no. 1, pp. 512-519. https://doi.org/10.1109/TAC.2021.3086329","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:arXiv.org:2102.02883","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.02883","pdf_url":"https://arxiv.org/pdf/2102.02883","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:pure.rug.nl:publications/cea62f7d-be22-4536-9968-eee7bebc9854","is_oa":true,"landing_page_url":"https://hdl.handle.net/11370/cea62f7d-be22-4536-9968-eee7bebc9854","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Berkane, S, Bisoffi, A & Dimarogonas, D V 2022, 'Obstacle Avoidance via Hybrid Feedback', IEEE Transactions on Automatic Control, vol. 67, no. 1, pp. 512-519. https://doi.org/10.1109/TAC.2021.3086329","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:re.public.polimi.it:11311/1226435","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/abstract/document/9446578","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:pure.rug.nl:openaire/cea62f7d-be22-4536-9968-eee7bebc9854","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/cea62f7d-be22-4536-9968-eee7bebc9854","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Berkane, S, Bisoffi, A & Dimarogonas, D V 2022, 'Obstacle Avoidance via Hybrid Feedback', IEEE Transactions on Automatic Control, vol. 67, no. 1, pp. 512-519. https://doi.org/10.1109/TAC.2021.3086329","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4235940013","display_name":null,"funder_award_id":"DG RGPIN-2020-04759","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320322581","display_name":"Vetenskapsr\u00e5det","ror":"https://ror.org/03zttf063"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"},{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W100354579","https://openalex.org/W108493215","https://openalex.org/W955726286","https://openalex.org/W1487444668","https://openalex.org/W1569239057","https://openalex.org/W1974564073","https://openalex.org/W2046344033","https://openalex.org/W2057942137","https://openalex.org/W2076738229","https://openalex.org/W2098412395","https://openalex.org/W2103120971","https://openalex.org/W2103847686","https://openalex.org/W2104103836","https://openalex.org/W2104332709","https://openalex.org/W2110636401","https://openalex.org/W2120379056","https://openalex.org/W2127617835","https://openalex.org/W2131886857","https://openalex.org/W2136361262","https://openalex.org/W2136384363","https://openalex.org/W2518956424","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2739535774","https://openalex.org/W2787112460","https://openalex.org/W2792054271","https://openalex.org/W2885835093","https://openalex.org/W2886509609","https://openalex.org/W2921297290","https://openalex.org/W2962788405","https://openalex.org/W2968650343","https://openalex.org/W3016801631","https://openalex.org/W3098925401","https://openalex.org/W3126177334","https://openalex.org/W3128530779","https://openalex.org/W4255043376","https://openalex.org/W4289693767","https://openalex.org/W4301621763","https://openalex.org/W6625070499"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2975575631","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"we":[3],"present":[4],"a":[5,38,52],"hybrid":[6],"feedback":[7],"approach":[8,71],"to":[9,37],"solve":[10],"the":[11,15,44,66,69],"navigation":[12],"problem":[13],"in":[14],"<inline-formula":[16],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[17],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[18],"notation=\"LaTeX\">$n$</tex-math></inline-formula>":[19],"-dimensional":[20],"space":[21],"containing":[22],"an":[23],"arbitrary":[24],"number":[25],"of":[26,43,58,68],"ellipsoidal":[27],"obstacles.":[28,45],"The":[29,46],"proposed":[30,70],"algorithm":[31],"guarantees":[32],"both":[33],"global":[34],"asymptotic":[35],"stabilization":[36,60],"target":[39],"position":[40],"and":[41,61,74],"avoidance":[42],"controller,":[47],"exploiting":[48],"hysteresis":[49],"regions,":[50],"employs":[51],"Zeno-free":[53],"switching":[54],"between":[55],"two":[56],"modes":[57],"control:":[59],"avoidance.":[62],"Simulation":[63],"results":[64],"illustrate":[65],"performance":[67],"for":[72],"2-D":[73],"3-D":[75],"scenarios.":[76]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3}],"updated_date":"2026-03-21T08:13:44.787528","created_date":"2025-10-10T00:00:00"}