{"id":"https://openalex.org/W4406522828","doi":"https://doi.org/10.1109/tcst.2025.3526377","title":"Reactive Robot Navigation Using Quasi-Conformal Mappings and Control Barrier Functions","display_name":"Reactive Robot Navigation Using Quasi-Conformal Mappings and Control Barrier Functions","publication_year":2025,"publication_date":"2025-01-17","ids":{"openalex":"https://openalex.org/W4406522828","doi":"https://doi.org/10.1109/tcst.2025.3526377"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2025.3526377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3526377","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5072586461","display_name":"Gennaro Notomista","orcid":"https://orcid.org/0000-0002-1478-2790"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Gennaro Notomista","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-1478-2790","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059616736","display_name":"Gary P. T. Choi","orcid":"https://orcid.org/0000-0001-5407-9111"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Gary P. T. Choi","raw_affiliation_strings":["Department of Mathematics, The Chinese University of Hong Kong, New Territories, Hong Kong","Department of Mathematics, The Chinese University of Hong Kong, Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-5407-9111","affiliations":[{"raw_affiliation_string":"Department of Mathematics, The Chinese University of Hong Kong, New Territories, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mathematics, The Chinese University of Hong Kong, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031898170","display_name":"Matteo Saveriano","orcid":"https://orcid.org/0000-0002-9784-3973"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Saveriano","raw_affiliation_strings":["Department of Industrial Engineering, University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9784-3973","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5311,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.80048465,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"33","issue":"3","first_page":"928","last_page":"939"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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":0.9988999962806702,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9983999729156494,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9656000137329102,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/conformal-map","display_name":"Conformal map","score":0.7551459074020386},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5530378818511963},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4929332733154297},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48668938875198364},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3680795729160309},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28662145137786865},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20970159769058228},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08442139625549316}],"concepts":[{"id":"https://openalex.org/C98214594","wikidata":"https://www.wikidata.org/wiki/Q850275","display_name":"Conformal map","level":2,"score":0.7551459074020386},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5530378818511963},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4929332733154297},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48668938875198364},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3680795729160309},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28662145137786865},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20970159769058228},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08442139625549316}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2025.3526377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3526377","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:iris.unitn.it:11572/444691","is_oa":false,"landing_page_url":"https://hdl.handle.net/11572/444691","pdf_url":null,"source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"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":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1618175281","https://openalex.org/W1965827371","https://openalex.org/W1974956622","https://openalex.org/W1984505032","https://openalex.org/W2000790002","https://openalex.org/W2006859604","https://openalex.org/W2033071120","https://openalex.org/W2064809245","https://openalex.org/W2065297540","https://openalex.org/W2066769138","https://openalex.org/W2110144538","https://openalex.org/W2116647221","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2617250276","https://openalex.org/W2739535774","https://openalex.org/W2889711700","https://openalex.org/W2890358241","https://openalex.org/W2926893252","https://openalex.org/W2950053202","https://openalex.org/W2962862539","https://openalex.org/W2966735560","https://openalex.org/W2968945909","https://openalex.org/W3003535010","https://openalex.org/W3003907021","https://openalex.org/W3015162794","https://openalex.org/W3046160353","https://openalex.org/W3086338852","https://openalex.org/W3090132180","https://openalex.org/W3120117504","https://openalex.org/W3133407528","https://openalex.org/W3171845842","https://openalex.org/W3199261867","https://openalex.org/W4206276135","https://openalex.org/W4310607711","https://openalex.org/W4312433875","https://openalex.org/W4314946893","https://openalex.org/W4391741307","https://openalex.org/W6676656781","https://openalex.org/W6849739451","https://openalex.org/W6983203447"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2747077871","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,41,54],"robot":[4,23,93],"control":[5,85],"algorithm":[6,112],"suitable":[7],"for":[8],"safe":[9,80],"reactive":[10],"navigation":[11,81,111],"tasks":[12,82],"in":[13,46],"cluttered":[14],"environments.":[15],"The":[16,70,106],"proposed":[17,110],"approach":[18],"consists":[19],"of":[20,44,72,104,108,126],"transforming":[21],"the":[22,26,47,73,102,109],"workspace":[24],"into":[25],"ball":[27,74],"world,":[28],"an":[29],"artificial":[30],"representation":[31,43],"where":[32],"all":[33],"obstacle":[34],"regions":[35],"are":[36],"closed":[37],"balls.":[38],"Starting":[39],"from":[40],"polyhedral":[42],"obstacles":[45,60],"environment,":[48],"obtained":[49],"using":[50,63,123],"exteroceptive":[51],"sensor":[52],"readings,":[53],"computationally":[55],"efficient":[56],"mapping":[57],"to":[58,78,90],"ball-shaped":[59],"is":[61,76,113],"constructed":[62],"quasi-conformal":[64],"(QC)":[65],"mappings":[66],"and":[67,100,115,120,131],"M\u00f6bius":[68],"transformations.":[69],"geometry":[71],"world":[75],"amenable":[77],"provably":[79],"achieved":[83],"via":[84,117],"barrier":[86],"functions":[87],"(CBFs)":[88],"employed":[89],"ensure":[91],"collision-free":[92],"motions":[94],"with":[95],"guarantees":[96],"both":[97],"on":[98,101],"safety":[99],"absence":[103],"deadlocks.":[105],"performance":[107],"showcased":[114],"analyzed":[116],"extensive":[118],"simulations":[119],"experiments":[121],"performed":[122],"different":[124],"types":[125],"robotic":[127],"systems,":[128],"including":[129],"manipulators":[130],"mobile":[132],"robots.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
