{"id":"https://openalex.org/W4413257880","doi":"https://doi.org/10.1109/tcyb.2025.3591855","title":"Energy Approximated Dynamic Subattractor for Adjusting Obstacle Avoidance Trajectories","display_name":"Energy Approximated Dynamic Subattractor for Adjusting Obstacle Avoidance Trajectories","publication_year":2025,"publication_date":"2025-08-15","ids":{"openalex":"https://openalex.org/W4413257880","doi":"https://doi.org/10.1109/tcyb.2025.3591855","pmid":"https://pubmed.ncbi.nlm.nih.gov/40815590"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2025.3591855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2025.3591855","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yubo Dong","orcid":"https://orcid.org/0009-0001-8540-5490"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yubo Dong","raw_affiliation_strings":["College of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0001-8540-5490","affiliations":[{"raw_affiliation_string":"College of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chao Zeng","orcid":"https://orcid.org/0000-0003-0799-6712"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chao Zeng","raw_affiliation_strings":["Department of Computer Science, University of Liverpool, Liverpool, U.K"],"raw_orcid":"https://orcid.org/0000-0003-0799-6712","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, Liverpool, U.K","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhehao Jin","orcid":"https://orcid.org/0000-0002-0871-9779"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhehao Jin","raw_affiliation_strings":["Nanyang Technological University, Nanyang Ave, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-0871-9779","affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Nanyang Ave, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ning Wang","orcid":"https://orcid.org/0000-0002-3264-1852"},"institutions":[{"id":"https://openalex.org/I71422933","display_name":"Sheffield Hallam University","ror":"https://ror.org/019wt1929","country_code":"GB","type":"education","lineage":["https://openalex.org/I71422933"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ning Wang","raw_affiliation_strings":["School of Computing and Digital Technologies, Sheffield Hallam University, Sheffield, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3264-1852","affiliations":[{"raw_affiliation_string":"School of Computing and Digital Technologies, Sheffield Hallam University, Sheffield, U.K","institution_ids":["https://openalex.org/I71422933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Department of Computer Science, University of Liverpool, Liverpool, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5255-5559","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, Liverpool, U.K","institution_ids":["https://openalex.org/I146655781"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1915321,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"55","issue":"11","first_page":"5532","last_page":"5544"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T12125","display_name":"Aerospace and Aviation Technology","score":0.9884999990463257,"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/T11489","display_name":"Air Traffic Management and Optimization","score":0.9855999946594238,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6532166004180908},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5444684028625488},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5401678085327148},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41813576221466064},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3788183331489563},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32982730865478516},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19127631187438965},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.18767178058624268},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1642935872077942}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6532166004180908},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5444684028625488},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5401678085327148},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41813576221466064},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3788183331489563},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32982730865478516},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19127631187438965},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.18767178058624268},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1642935872077942},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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":4,"locations":[{"id":"doi:10.1109/tcyb.2025.3591855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2025.3591855","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:40815590","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40815590","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null},{"id":"pmh:oai:shura.shu.ac.uk:36266","is_oa":false,"landing_page_url":"http://orcid.org/0000-0002-0871-9779>,","pdf_url":null,"source":{"id":"https://openalex.org/S4306401600","display_name":"SHURA (Sheffield Hallam University Research Archive) (Sheffield Hallam University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I71422933","host_organization_name":"Sheffield Hallam University","host_organization_lineage":["https://openalex.org/I71422933"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/208793","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/208793","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8949642581","display_name":null,"funder_award_id":"EP/Z00117X/1","funder_id":"https://openalex.org/F4320334322","funder_display_name":"HORIZON EUROPE Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1965421192","https://openalex.org/W1969483458","https://openalex.org/W1985449527","https://openalex.org/W1991667713","https://openalex.org/W2073787051","https://openalex.org/W2103120971","https://openalex.org/W2113698995","https://openalex.org/W2129202194","https://openalex.org/W2136719407","https://openalex.org/W2136832785","https://openalex.org/W2149192758","https://openalex.org/W2161395589","https://openalex.org/W2478063815","https://openalex.org/W2590307769","https://openalex.org/W2883972132","https://openalex.org/W2909411248","https://openalex.org/W2962787969","https://openalex.org/W2965133842","https://openalex.org/W3004689279","https://openalex.org/W3007985585","https://openalex.org/W3038740010","https://openalex.org/W3081877091","https://openalex.org/W3128104326","https://openalex.org/W3166133078","https://openalex.org/W3205953818","https://openalex.org/W4200038771","https://openalex.org/W4309475412","https://openalex.org/W4311754178","https://openalex.org/W4321795072","https://openalex.org/W4323644277","https://openalex.org/W4366462885","https://openalex.org/W4379531409","https://openalex.org/W4383503924","https://openalex.org/W4385403811","https://openalex.org/W4386065208","https://openalex.org/W4393942809","https://openalex.org/W4396523239","https://openalex.org/W4398793977","https://openalex.org/W4399393465","https://openalex.org/W4401414307","https://openalex.org/W4401829976","https://openalex.org/W4404355808","https://openalex.org/W4405519434","https://openalex.org/W4406821768","https://openalex.org/W4407361581","https://openalex.org/W4407448759","https://openalex.org/W4408503441","https://openalex.org/W4414079054"],"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/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":{"Imitation":[0],"learning":[1],"is":[2,23],"an":[3,51],"important":[4],"method":[5,56],"for":[6],"the":[7,29,81,113,119],"human-robot":[8],"skill":[9],"transfer.":[10],"However,":[11],"ensuring":[12],"that":[13,38,57],"skills":[14],"learned":[15],"through":[16,65,116],"imitation":[17],"remain":[18],"effective":[19],"in":[20,134],"different":[21],"environments":[22,103],"a":[24,33],"challenge.":[25],"This":[26],"article":[27],"addresses":[28],"challenge":[30],"by":[31,61],"proposing":[32],"stable":[34],"autonomous":[35,89],"dynamic":[36,53,107],"system":[37,82],"can":[39],"effectively":[40,98],"handle":[41],"obstacles":[42],"and":[43,92,109,122,128,137],"disturbances":[44],"while":[45],"maintaining":[46],"trajectory":[47,90],"accuracy.":[48],"We":[49,111],"introduce":[50],"energy-approximated":[52],"subattractor":[54],"(EADA)":[55],"enhances":[58],"disturbance":[59],"resistance":[60],"dynamically":[62],"selecting":[63],"subattractors":[64],"Neum":[66],"(an":[67],"energy":[68],"function":[69],"derived":[70],"from":[71],"demonstration":[72],"data).":[73],"By":[74],"combining":[75],"velocity":[76],"modulation":[77],"algorithms":[78],"with":[79,104,142],"EADA,":[80],"achieves":[83],"global":[84],"stability,":[85],"precise":[86],"obstacle":[87,139],"avoidance,":[88],"recovery,":[91],"rapid":[93],"response.":[94],"The":[95],"proposed":[96,114],"framework":[97],"handles":[99],"complex":[100],"scenarios,":[101],"including":[102],"multiple":[105],"obstacles,":[106,108],"disturbances.":[110],"validate":[112],"approach":[115],"simulations":[117],"on":[118],"LASA":[120],"dataset":[121],"real-world":[123],"robotic":[124],"experiments":[125],"(both":[126],"single-arm":[127],"dual-arm":[129],"robots),":[130],"demonstrating":[131],"its":[132],"effectiveness":[133],"achieving":[135],"smooth":[136],"accurate":[138],"avoidance":[140],"trajectories":[141],"generalization":[143],"capability.":[144]},"counts_by_year":[],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
