{"id":"https://openalex.org/W2075929513","doi":"https://doi.org/10.1109/tsmcc.2012.2183868","title":"A New Inequality-Based Obstacle-Avoidance MVN Scheme and Its Application to Redundant Robot Manipulators","display_name":"A New Inequality-Based Obstacle-Avoidance MVN Scheme and Its Application to Redundant Robot Manipulators","publication_year":2012,"publication_date":"2012-02-23","ids":{"openalex":"https://openalex.org/W2075929513","doi":"https://doi.org/10.1109/tsmcc.2012.2183868","mag":"2075929513"},"language":"en","primary_location":{"id":"doi:10.1109/tsmcc.2012.2183868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmcc.2012.2183868","pdf_url":null,"source":{"id":"https://openalex.org/S4210227557","display_name":"IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews)","issn_l":"1094-6977","issn":["1094-6977","1558-2442"],"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 Systems, Man, and Cybernetics, Part C (Applications and Reviews)","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/A5101794547","display_name":"Dongsheng Guo","orcid":"https://orcid.org/0000-0002-9236-229X"},"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":"Dongsheng Guo","raw_affiliation_strings":["School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053064477","display_name":"Yunong Zhang","orcid":"https://orcid.org/0000-0002-2228-0395"},"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":"Yunong Zhang","raw_affiliation_strings":["School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101794547"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":5.2914,"has_fulltext":false,"cited_by_count":140,"citation_normalized_percentile":{"value":0.96250249,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"42","issue":"6","first_page":"1326","last_page":"1340"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9977999925613403,"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/variational-inequality","display_name":"Variational inequality","score":0.695965588092804},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6165262460708618},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5305659770965576},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.47523143887519836},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4655718505382538},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4551841914653778},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4416433870792389},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41063350439071655},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36171984672546387},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2585083842277527},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10730153322219849}],"concepts":[{"id":"https://openalex.org/C161999928","wikidata":"https://www.wikidata.org/wiki/Q4556320","display_name":"Variational inequality","level":2,"score":0.695965588092804},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6165262460708618},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5305659770965576},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.47523143887519836},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4655718505382538},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4551841914653778},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4416433870792389},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41063350439071655},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36171984672546387},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2585083842277527},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10730153322219849},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmcc.2012.2183868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmcc.2012.2183868","pdf_url":null,"source":{"id":"https://openalex.org/S4210227557","display_name":"IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews)","issn_l":"1094-6977","issn":["1094-6977","1558-2442"],"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 Systems, Man, and Cybernetics, Part C (Applications and Reviews)","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.6600000262260437,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W175079832","https://openalex.org/W1484771800","https://openalex.org/W1509579450","https://openalex.org/W1560270123","https://openalex.org/W1578671836","https://openalex.org/W1590354638","https://openalex.org/W1973711904","https://openalex.org/W1974974058","https://openalex.org/W1982442957","https://openalex.org/W1991848933","https://openalex.org/W2003593395","https://openalex.org/W2004007239","https://openalex.org/W2042752297","https://openalex.org/W2054354066","https://openalex.org/W2063471227","https://openalex.org/W2072881998","https://openalex.org/W2100476631","https://openalex.org/W2104793589","https://openalex.org/W2114872772","https://openalex.org/W2116146909","https://openalex.org/W2116176144","https://openalex.org/W2117280259","https://openalex.org/W2124291478","https://openalex.org/W2124831034","https://openalex.org/W2124869665","https://openalex.org/W2126626010","https://openalex.org/W2130920082","https://openalex.org/W2137840335","https://openalex.org/W2138045872","https://openalex.org/W2145040001","https://openalex.org/W2145211241","https://openalex.org/W2145238401","https://openalex.org/W2150071197","https://openalex.org/W2153202134","https://openalex.org/W2158334497","https://openalex.org/W2158612891","https://openalex.org/W2160185977","https://openalex.org/W2164560446","https://openalex.org/W2164998674","https://openalex.org/W2165379688","https://openalex.org/W2167834562","https://openalex.org/W2302808317","https://openalex.org/W2306814035","https://openalex.org/W6661117756","https://openalex.org/W6681701975","https://openalex.org/W6684314001"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2998793487","https://openalex.org/W1993397232","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1989743438","https://openalex.org/W107811838","https://openalex.org/W4308703440","https://openalex.org/W1969086070"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,23,40,67,76,121,169],"new":[4],"inequality-based":[5,107],"criterion/constraint":[6],"with":[7],"its":[8],"algorithmic":[9],"and":[10,28,37,47,87,94,120,131,137,165],"computational":[11],"details":[12],"for":[13,49,96,171],"obstacle":[14,172],"avoidance":[15,173],"of":[16,99,129,139,148,167,174],"redundant":[17,175],"robot":[18,118,124,159,176],"manipulators.":[19],"By":[20],"incorporating":[21],"such":[22,168],"dynamically":[24],"updated":[25],"inequality":[26],"constraint":[27],"the":[29,60,100,106,127,135,140,149,155,162],"joint":[30],"physical":[31,163],"constraints":[32],"(such":[33],"as":[34,66,103,105],"joint-angle":[35],"limits":[36],"joint-velocity":[38,61],"limits),":[39],"novel":[41],"minimum-velocity-norm":[42],"(MVN)":[43],"scheme":[44,57,152,170],"is":[45,63],"presented":[46],"investigated":[48],"robotic":[50],"redundancy":[51],"resolution.":[52],"The":[53],"resultant":[54],"obstacle-avoidance":[55,108,142],"MVN":[56,109,143,151],"resolved":[58],"at":[59],"level":[62],"further":[64],"reformulated":[65],"general":[68],"quadratic":[69],"program":[70],"(QP).":[71],"Two":[72],"QP":[73,101],"solvers,":[74],"i.e.,":[75],"simplified":[77],"primal-dual":[78],"neural":[79],"network":[80],"based":[81,115],"on":[82,116,154],"linear":[83],"variational":[84],"inequalities":[85],"(LVI)":[86],"an":[88],"LVI-based":[89],"numerical":[90],"algorithm,":[91],"are":[92,114],"developed":[93],"applied":[95],"online":[97],"solution":[98],"problem":[102],"well":[104],"scheme.":[110,144],"Simulative":[111],"results":[112,147],"that":[113],"PA10":[117],"manipulator":[119,125,160],"six-link":[122,157],"planar":[123,158],"in":[126],"presence":[128],"window-shaped":[130],"point":[132],"obstacles":[133],"demonstrate":[134],"efficacy":[136],"superiority":[138],"proposed":[141,150],"Moreover,":[145],"experimental":[146],"implemented":[153],"practical":[156],"substantiate":[161],"realizability":[164],"effectiveness":[166],"manipulator.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":17},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}