{"id":"https://openalex.org/W4403758647","doi":"https://doi.org/10.1109/tac.2024.3486654","title":"Collision-Free Source Seeking Control Methods for Unicycle Robots","display_name":"Collision-Free Source Seeking Control Methods for Unicycle Robots","publication_year":2024,"publication_date":"2024-10-25","ids":{"openalex":"https://openalex.org/W4403758647","doi":"https://doi.org/10.1109/tac.2024.3486654"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2024.3486654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3486654","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":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.rug.nl/en/publications/3145befd-d611-47e0-ba34-9cf868f03584","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004154892","display_name":"Tinghua Li","orcid":null},"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":true,"raw_author_name":"Tinghua Li","raw_affiliation_strings":["Engineering and Technology Institute Groningen, Faculty of Science and Engineering, University of Groningen, Groningen, The Netherlands","DTPA, ENTEG, Faculty of Science and Engineering, University of Groningen, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Engineering and Technology Institute Groningen, Faculty of Science and Engineering, University of Groningen, Groningen, The Netherlands","institution_ids":["https://openalex.org/I169381384"]},{"raw_affiliation_string":"DTPA, ENTEG, Faculty of Science and Engineering, University of Groningen, The Netherlands","institution_ids":["https://openalex.org/I169381384"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023001118","display_name":"Bayu Jayawardhana","orcid":"https://orcid.org/0000-0003-0987-0347"},"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":"Bayu Jayawardhana","raw_affiliation_strings":["Engineering and Technology Institute Groningen, Faculty of Science and Engineering, University of Groningen, Groningen, The Netherlands","DTPA, ENTEG, Faculty of Science and Engineering, University of Groningen, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Engineering and Technology Institute Groningen, Faculty of Science and Engineering, University of Groningen, Groningen, The Netherlands","institution_ids":["https://openalex.org/I169381384"]},{"raw_affiliation_string":"DTPA, ENTEG, Faculty of Science and Engineering, University of Groningen, The Netherlands","institution_ids":["https://openalex.org/I169381384"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5004154892"],"corresponding_institution_ids":["https://openalex.org/I169381384"],"apc_list":null,"apc_paid":null,"fwci":1.937,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.86620386,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"70","issue":"3","first_page":"2020","last_page":"2027"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":0.9922999739646912,"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"}},"topics":[{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":0.9922999739646912,"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/T12158","display_name":"Guidance and Control Systems","score":0.9707000255584717,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9639000296592712,"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/robot","display_name":"Robot","score":0.6872410774230957},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5344651937484741},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5312411785125732},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5019571781158447},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.478153795003891},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.43608608841896057},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4052882790565491},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38463109731674194},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24171394109725952},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2061617076396942},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1381731927394867}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6872410774230957},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5344651937484741},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5312411785125732},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5019571781158447},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.478153795003891},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.43608608841896057},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4052882790565491},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38463109731674194},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24171394109725952},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2061617076396942},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1381731927394867}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tac.2024.3486654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3486654","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/3145befd-d611-47e0-ba34-9cf868f03584","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/3145befd-d611-47e0-ba34-9cf868f03584","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":"Li, T & Jayawardhana, B 2025, 'Collision-Free Source Seeking Control Methods for Unicycle Robots', IEEE Transactions on Automatic Control, vol. 70, no. 3, pp. 2020-2027. https://doi.org/10.1109/TAC.2024.3486654","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.rug.nl:publications/3145befd-d611-47e0-ba34-9cf868f03584","is_oa":true,"landing_page_url":"https://hdl.handle.net/11370/3145befd-d611-47e0-ba34-9cf868f03584","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":"Li, T & Jayawardhana, B 2025, 'Collision-Free Source Seeking Control Methods for Unicycle Robots', IEEE Transactions on Automatic Control, vol. 70, no. 3, pp. 2020-2027. https://doi.org/10.1109/TAC.2024.3486654","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.rug.nl:openaire/3145befd-d611-47e0-ba34-9cf868f03584","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/3145befd-d611-47e0-ba34-9cf868f03584","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":"Li, T & Jayawardhana, B 2025, 'Collision-Free Source Seeking Control Methods for Unicycle Robots', IEEE Transactions on Automatic Control, vol. 70, no. 3, pp. 2020-2027. https://doi.org/10.1109/TAC.2024.3486654","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1627251346","https://openalex.org/W1869926830","https://openalex.org/W1972149633","https://openalex.org/W1976061562","https://openalex.org/W1980569135","https://openalex.org/W2052446317","https://openalex.org/W2078742006","https://openalex.org/W2129729773","https://openalex.org/W2137563252","https://openalex.org/W2238345790","https://openalex.org/W2514814295","https://openalex.org/W2560504659","https://openalex.org/W2569089411","https://openalex.org/W2587478215","https://openalex.org/W2620840602","https://openalex.org/W2914003710","https://openalex.org/W2968945909","https://openalex.org/W3126681642","https://openalex.org/W3155061166","https://openalex.org/W3157509697","https://openalex.org/W3158991709","https://openalex.org/W3185320737","https://openalex.org/W4286306567","https://openalex.org/W4403758647","https://openalex.org/W6792056520","https://openalex.org/W6849599643"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"In":[0,19],"this":[1,20],"work,":[2],"we":[3,73],"propose":[4,74],"a":[5,11,75,79,95,116],"collision-free":[6],"source-seeking":[7,38,90],"control":[8,28,39,91],"framework":[9],"for":[10,68],"unicycle":[12,71],"robot":[13],"traversing":[14],"an":[15],"unknown":[16],"cluttered":[17],"environment.":[18],"framework,":[21],"obstacle":[22],"avoidance":[23],"is":[24,107],"guided":[25],"by":[26],"the":[27,37,43,50,54,58,64,69,99,104],"barrier":[29],"functions":[30],"(CBF)":[31],"embedded":[32],"in":[33,123],"quadratic":[34],"programming,":[35],"and":[36,62],"relies":[40],"solely":[41],"on":[42],"use":[44],"of":[45,53,78,98,103],"onboard":[46],"sensors":[47],"that":[48,81],"measure":[49],"signal":[51],"strength":[52],"source.":[55],"To":[56],"tackle":[57],"mixed":[59],"relative":[60],"degree":[61],"avoid":[63],"undesired":[65],"position":[66],"offset":[67],"nonholonomic":[70],"model,":[72],"novel":[76],"construction":[77],"CBF":[80],"can":[82],"directly":[83],"be":[84],"integrated":[85],"with":[86,120],"our":[87],"recent":[88],"gradient-ascent":[89],"law.":[92],"We":[93],"present":[94],"rigorous":[96],"analysis":[97],"approach.":[100],"The":[101],"efficacy":[102],"proposed":[105],"approach":[106],"evaluated":[108],"via":[109],"Monte-Carlo":[110],"simulations,":[111],"as":[112],"well":[113],"as,":[114],"using":[115],"realistic":[117],"dynamic":[118],"environment":[119],"moving":[121],"obstacles":[122],"Gazebo/ROS.":[124]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
