{"id":"https://openalex.org/W4389879652","doi":"https://doi.org/10.1109/tro.2023.3344034","title":"Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics","display_name":"Avoidance of Concave Obstacles Through Rotation of Nonlinear Dynamics","publication_year":2023,"publication_date":"2023-12-18","ids":{"openalex":"https://openalex.org/W4389879652","doi":"https://doi.org/10.1109/tro.2023.3344034"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3344034","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2023.3344034","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10363679.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10363679.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101634880","display_name":"Lukas Huber","orcid":"https://orcid.org/0000-0002-2471-6949"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lukas Huber","raw_affiliation_strings":["LASA Laboratory, Swiss Federal School of Technology in Lausanne—EPFL, Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2471-6949","affiliations":[{"raw_affiliation_string":"LASA Laboratory, Swiss Federal School of Technology in Lausanne—EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044026747","display_name":"Jean-Jacques Slotine","orcid":"https://orcid.org/0000-0002-7161-7812"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean-Jacques Slotine","raw_affiliation_strings":["Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7161-7812","affiliations":[{"raw_affiliation_string":"Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["LASA Laboratory, Swiss Federal School of Technology in Lausanne—EPFL, Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-7076-8010","affiliations":[{"raw_affiliation_string":"LASA Laboratory, Swiss Federal School of Technology in Lausanne—EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9145,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.88504246,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"40","issue":null,"first_page":"1983","last_page":"2002"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9908000230789185,"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":0.9876999855041504,"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","display_name":"Obstacle","score":0.6436291933059692},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6371331214904785},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5893353223800659},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5811960697174072},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5510358810424805},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.5304011106491089},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4559522271156311},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.4519377648830414},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4231111407279968},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41095733642578125},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3933750092983246},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3501194715499878},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3149797022342682},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22129037976264954},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.14613771438598633},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.11082682013511658},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10103476047515869}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6436291933059692},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6371331214904785},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5893353223800659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5811960697174072},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5510358810424805},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.5304011106491089},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4559522271156311},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.4519377648830414},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4231111407279968},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41095733642578125},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3933750092983246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3501194715499878},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3149797022342682},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22129037976264954},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.14613771438598633},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.11082682013511658},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10103476047515869},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2023.3344034","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2023.3344034","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10363679.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:infoscience.epfl.ch:310212","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/310212","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"research article"}],"best_oa_location":{"id":"doi:10.1109/tro.2023.3344034","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2023.3344034","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10363679.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389879652.pdf","grobid_xml":"https://content.openalex.org/works/W4389879652.grobid-xml"},"referenced_works_count":56,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1487127700","https://openalex.org/W1536308292","https://openalex.org/W1971086298","https://openalex.org/W1993999483","https://openalex.org/W1994691148","https://openalex.org/W2025984802","https://openalex.org/W2053212688","https://openalex.org/W2066769138","https://openalex.org/W2068878320","https://openalex.org/W2069522844","https://openalex.org/W2076738229","https://openalex.org/W2103120971","https://openalex.org/W2109814287","https://openalex.org/W2110144538","https://openalex.org/W2113286054","https://openalex.org/W2128990851","https://openalex.org/W2136832785","https://openalex.org/W2152536965","https://openalex.org/W2153612202","https://openalex.org/W2161819990","https://openalex.org/W2244449411","https://openalex.org/W2478063815","https://openalex.org/W2533095199","https://openalex.org/W2557741120","https://openalex.org/W2584986912","https://openalex.org/W2739535774","https://openalex.org/W2752061190","https://openalex.org/W2800040872","https://openalex.org/W2909411248","https://openalex.org/W2919115771","https://openalex.org/W2942390732","https://openalex.org/W2962788405","https://openalex.org/W2997591727","https://openalex.org/W3025769768","https://openalex.org/W3047785633","https://openalex.org/W3081520070","https://openalex.org/W3093784640","https://openalex.org/W3103572865","https://openalex.org/W3129933761","https://openalex.org/W3154209325","https://openalex.org/W3165399594","https://openalex.org/W3166133078","https://openalex.org/W4211082329","https://openalex.org/W4237936014","https://openalex.org/W4246226690","https://openalex.org/W4247582681","https://openalex.org/W4281776977","https://openalex.org/W4312499896","https://openalex.org/W4312561363","https://openalex.org/W4313149332","https://openalex.org/W4321366759","https://openalex.org/W4382203478","https://openalex.org/W4399469378","https://openalex.org/W6755802134","https://openalex.org/W6801436214"],"related_works":["https://openalex.org/W3201311488","https://openalex.org/W2031424614","https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174"],"abstract_inverted_index":{"Controlling":[0],"complex":[1],"tasks":[2],"in":[3,58,162,178,196],"robotic":[4],"systems,":[5],"such":[6],"as":[7,152],"circular":[8],"motion":[9],"for":[10,37,115],"cleaning":[11],"or":[12],"following":[13],"curvy":[14],"lines,":[15],"can":[16,80,192],"be":[17,81,193],"dealt":[18],"with":[19],"using":[20],"nonlinear":[21,117],"vector":[22],"fields.":[23],"This":[24,199],"paper":[25],"introduces":[26],"a":[27,50,95,107,136,153,207],"novel":[28],"approach":[29,114],"called":[30],"the":[31,39,46,65,69,91,100,113,130,172,185,203],"rotational":[32],"obstacle":[33,77],"avoidance":[34],"method":[35,187],"(ROAM)":[36],"adapting":[38],"initial":[40,66,173],"dynamics":[41,67,134],"when":[42],"obstacles":[43,57,150],"partially":[44],"occlude":[45],"workspace.":[47],"ROAM":[48,120,158],"presents":[49],"closed-form":[51],"solution":[52],"that":[53],"effectively":[54,195],"avoids":[55],"star-shaped":[56],"spaces":[59],"of":[60,93,102,109,165,206],"arbitrary":[61],"dimensions":[62],"by":[63],"rotating":[64],"toward":[68],"tangent":[70],"space.":[71],"The":[72],"algorithm":[73],"enables":[74],"navigation":[75,205],"within":[76,135],"hulls":[78],"and":[79,128,168,191],"customized":[82],"to":[83,111,124,132,171,182],"actively":[84],"move":[85],"away":[86],"from":[87],"surfaces":[88],"while":[89],"guaranteeing":[90],"presence":[92],"only":[94],"single":[96],"saddle":[97],"point":[98],"on":[99],"boundary":[101],"each":[103],"obstacle.":[104],"We":[105],"introduce":[106],"sequence":[108],"mappings":[110],"extend":[112],"general":[116,148],"dynamics.":[118],"Moreover,":[119],"extends":[121],"its":[122,183],"capabilities":[123],"handle":[125],"multi-obstacle":[126,179],"environments":[127],"provides":[129],"ability":[131],"constrain":[133],"safe":[137],"tube.":[138],"By":[139],"utilizing":[140],"weighted":[141],"vector-tree":[142],"summation,":[143],"we":[144],"successfully":[145],"navigate":[146],"around":[147,211],"concave":[149],"represented":[151],"tree-of-stars.":[154],"Through":[155],"experimental":[156],"evaluation,":[157],"demonstrates":[159],"superior":[160],"performance":[161],"minimizing":[163],"occurrences":[164],"local":[166],"minima":[167],"maintaining":[169],"similarity":[170],"dynamics,":[174],"outperforming":[175],"existing":[176],"approaches":[177],"simulations.":[180],"Due":[181],"simplicity,":[184],"proposed":[186],"is":[188],"highly":[189],"reactive":[190],"applied":[194],"dynamic":[197,212],"environments.":[198],"was":[200],"demonstrated":[201],"during":[202],"collision-free":[204],"7-degree-of-freedom":[208],"robot":[209],"arm":[210],"obstacles.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}