{"id":"https://openalex.org/W4394711200","doi":"https://doi.org/10.1109/tcds.2024.3387575","title":"Unifying Obstacle Avoidance and Tracking Control of Redundant Manipulators Subject to Joint Constraints: A New Data-Driven Scheme","display_name":"Unifying Obstacle Avoidance and Tracking Control of Redundant Manipulators Subject to Joint Constraints: A New Data-Driven Scheme","publication_year":2024,"publication_date":"2024-04-11","ids":{"openalex":"https://openalex.org/W4394711200","doi":"https://doi.org/10.1109/tcds.2024.3387575"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2024.3387575","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2024.3387575","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","raw_type":"journal-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/A5020189974","display_name":"Peng Yu","orcid":"https://orcid.org/0000-0001-6310-514X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Peng Yu","raw_affiliation_strings":["School of Computer Science and Engineering & the Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering & the Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100741008","display_name":"Ning Tan","orcid":"https://orcid.org/0000-0003-0710-6409"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I5343935","display_name":"Guilin University of Electronic Technology","ror":"https://ror.org/05arjae42","country_code":"CN","type":"education","lineage":["https://openalex.org/I5343935"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Tan","raw_affiliation_strings":["School of Computer Science and Engineering & the Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-sen University, Guangzhou, China","Guangxi Key Laboratory of Automatic Detecting Technology and Instruments, Guilin University of Electronic Technology, Guilin, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering & the Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Guangxi Key Laboratory of Automatic Detecting Technology and Instruments, Guilin University of Electronic Technology, Guilin, China","institution_ids":["https://openalex.org/I5343935"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064914047","display_name":"Zhaohui Zhong","orcid":"https://orcid.org/0000-0003-0382-5350"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaohui Zhong","raw_affiliation_strings":["School of Computer Science and Engineering & the Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering & the Key Laboratory of Machine Intelligence and Advanced Computing, Ministry of Education, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110803401","display_name":"Cong Hu","orcid":"https://orcid.org/0000-0003-1846-2812"},"institutions":[{"id":"https://openalex.org/I5343935","display_name":"Guilin University of Electronic Technology","ror":"https://ror.org/05arjae42","country_code":"CN","type":"education","lineage":["https://openalex.org/I5343935"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cong Hu","raw_affiliation_strings":["Guangxi Key Laboratory of Automatic Detecting Technology and Instruments, Guilin University of Electronic Technology, Guilin, China"],"affiliations":[{"raw_affiliation_string":"Guangxi Key Laboratory of Automatic Detecting Technology and Instruments, Guilin University of Electronic Technology, Guilin, China","institution_ids":["https://openalex.org/I5343935"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029739746","display_name":"Binbin Qiu","orcid":"https://orcid.org/0000-0002-9932-3306"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Binbin Qiu","raw_affiliation_strings":["School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100330888","display_name":"Changsheng Li","orcid":"https://orcid.org/0000-0003-2469-4222"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changsheng Li","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5020189974"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":1.2249,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.79210362,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"16","issue":"5","first_page":"1861","last_page":"1871"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"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":0.996999979019165,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9883999824523926,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9865000247955322,"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/computer-science","display_name":"Computer science","score":0.8263799548149109},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7383677959442139},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.7126466035842896},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6195095181465149},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5306870937347412},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5244484543800354},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5198184251785278},{"id":"https://openalex.org/keywords/subject","display_name":"Subject (documents)","score":0.5173425078392029},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48045915365219116},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3819437623023987},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3562106490135193},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35131150484085083},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3510277271270752},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20561084151268005},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.14784497022628784},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.08202669024467468}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8263799548149109},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7383677959442139},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.7126466035842896},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6195095181465149},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5306870937347412},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5244484543800354},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5198184251785278},{"id":"https://openalex.org/C2777855551","wikidata":"https://www.wikidata.org/wiki/Q12310021","display_name":"Subject (documents)","level":2,"score":0.5173425078392029},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48045915365219116},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3819437623023987},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3562106490135193},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35131150484085083},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3510277271270752},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20561084151268005},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.14784497022628784},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.08202669024467468},{"id":"https://openalex.org/C161191863","wikidata":"https://www.wikidata.org/wiki/Q199655","display_name":"Library science","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2024.3387575","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2024.3387575","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.5199999809265137}],"awards":[{"id":"https://openalex.org/G1158256415","display_name":null,"funder_award_id":"62173352","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2320314018","display_name":null,"funder_award_id":"2021A1515012314","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G266940681","display_name":null,"funder_award_id":"62006254","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W175079832","https://openalex.org/W1977431861","https://openalex.org/W2075929513","https://openalex.org/W2101482846","https://openalex.org/W2127832757","https://openalex.org/W2130920082","https://openalex.org/W2139652285","https://openalex.org/W2153202134","https://openalex.org/W2502651175","https://openalex.org/W2609869589","https://openalex.org/W2769154133","https://openalex.org/W2782861898","https://openalex.org/W2806365404","https://openalex.org/W2896186169","https://openalex.org/W2951294143","https://openalex.org/W2954966673","https://openalex.org/W2962027289","https://openalex.org/W2973843340","https://openalex.org/W3008051049","https://openalex.org/W3016899151","https://openalex.org/W3094998211","https://openalex.org/W3157380428","https://openalex.org/W3177103098","https://openalex.org/W3197811315","https://openalex.org/W3198108247","https://openalex.org/W3214884464","https://openalex.org/W4210860392","https://openalex.org/W4211206044","https://openalex.org/W4220695169","https://openalex.org/W4224279199","https://openalex.org/W4225552282","https://openalex.org/W4225992512","https://openalex.org/W4283364883","https://openalex.org/W4283698659","https://openalex.org/W4285058294","https://openalex.org/W4290774543","https://openalex.org/W4295745576","https://openalex.org/W4313005119","https://openalex.org/W4313890592","https://openalex.org/W4319302657","https://openalex.org/W4362721839"],"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],"modern":[1],"manufacturing,":[2],"redundant":[3,37,56],"manipulators":[4],"have":[5],"been":[6],"widely":[7],"deployed.":[8],"Performing":[9],"a":[10,44,64,84,89,116],"task":[11,60],"often":[12],"requires":[13],"the":[14,33,51,72,97,106,121,125,128],"manipulator":[15,107],"to":[16],"follow":[17],"specific":[18],"trajectories":[19],"while":[20],"avoiding":[21],"surrounding":[22],"obstacles.":[23],"Different":[24],"from":[25],"most":[26],"existing":[27],"obstacle-avoidance":[28,47,59],"schemes":[29],"that":[30],"rely":[31],"on":[32,102],"kinematic":[34,122],"model":[35],"of":[36,55,74,87,127],"manipulators,":[38],"in":[39,115],"this":[40],"paper,":[41],"we":[42],"propose":[43],"new":[45],"data-driven":[46,117],"(DDOA)":[48],"scheme":[49,130],"for":[50],"collision-free":[52],"tracking":[53,78],"control":[54,79],"manipulators.":[57],"The":[58],"is":[61,131],"formulated":[62],"as":[63],"quadratic":[65],"programming":[66],"problem":[67,86],"with":[68],"inequality":[69],"constraints.":[70],"Then,":[71],"objectives":[73],"obstacle":[75],"avoidance":[76],"and":[77,109,136],"are":[80],"unitedly":[81],"transformed":[82],"into":[83],"computation":[85],"solving":[88],"system":[90],"including":[91],"three":[92],"recurrent":[93],"neural":[94,104],"networks.":[95],"With":[96],"Jacobian":[98,108,111],"estimators":[99],"designed":[100],"based":[101],"zeroing":[103],"networks,":[105],"critical-point":[110],"can":[112],"be":[113],"estimated":[114],"way":[118],"without":[119],"knowing":[120],"model.":[123],"Finally,":[124],"effectiveness":[126],"proposed":[129],"validated":[132],"through":[133],"extensive":[134],"simulations":[135],"experiments.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}