{"id":"https://openalex.org/W3110391079","doi":"https://doi.org/10.1109/icstcc50638.2020.9259720","title":"Dynamic Target Tracking & Collision Avoidance Behaviour of Person Following Robot Using Model Predictive Control","display_name":"Dynamic Target Tracking & Collision Avoidance Behaviour of Person Following Robot Using Model Predictive Control","publication_year":2020,"publication_date":"2020-10-08","ids":{"openalex":"https://openalex.org/W3110391079","doi":"https://doi.org/10.1109/icstcc50638.2020.9259720","mag":"3110391079"},"language":"en","primary_location":{"id":"doi:10.1109/icstcc50638.2020.9259720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icstcc50638.2020.9259720","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 24th International Conference on System Theory, Control and Computing (ICSTCC)","raw_type":"proceedings-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/A5019612014","display_name":"Avijit Ashe","orcid":null},"institutions":[{"id":"https://openalex.org/I64189192","display_name":"International Institute of Information Technology, Hyderabad","ror":"https://ror.org/05f11g639","country_code":"IN","type":"education","lineage":["https://openalex.org/I64189192"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Avijit Ashe","raw_affiliation_strings":["Robotics Research Center, International Institue of Information Technology, Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"Robotics Research Center, International Institue of Information Technology, Hyderabad, India","institution_ids":["https://openalex.org/I64189192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075816776","display_name":"K. Madhava Krishna","orcid":"https://orcid.org/0000-0001-7846-7901"},"institutions":[{"id":"https://openalex.org/I64189192","display_name":"International Institute of Information Technology, Hyderabad","ror":"https://ror.org/05f11g639","country_code":"IN","type":"education","lineage":["https://openalex.org/I64189192"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"K. Madhava Krishna","raw_affiliation_strings":["Robotics Research Center, International Institue of Information Technology, Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"Robotics Research Center, International Institue of Information Technology, Hyderabad, India","institution_ids":["https://openalex.org/I64189192"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5019612014"],"corresponding_institution_ids":["https://openalex.org/I64189192"],"apc_list":null,"apc_paid":null,"fwci":0.3908,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.62957922,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"660","last_page":"666"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9984999895095825,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/collision-avoidance","display_name":"Collision avoidance","score":0.7901197671890259},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7005810141563416},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6718621253967285},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6704338192939758},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6580355763435364},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6079716682434082},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5911316871643066},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5820994973182678},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5113677382469177},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5005881786346436},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.48548296093940735},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4829830229282379},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.4464518129825592},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.41415935754776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4071027338504791},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3966093957424164},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35941487550735474},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27066242694854736},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18828478455543518}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7901197671890259},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7005810141563416},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6718621253967285},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6704338192939758},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6580355763435364},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6079716682434082},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5911316871643066},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5820994973182678},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5113677382469177},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5005881786346436},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.48548296093940735},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4829830229282379},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.4464518129825592},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.41415935754776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4071027338504791},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3966093957424164},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35941487550735474},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27066242694854736},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18828478455543518},{"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icstcc50638.2020.9259720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icstcc50638.2020.9259720","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 24th International Conference on System Theory, Control and Computing (ICSTCC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1608481154","https://openalex.org/W1964291531","https://openalex.org/W2000393168","https://openalex.org/W2116113712","https://openalex.org/W2157304242","https://openalex.org/W2388591084","https://openalex.org/W2542119476","https://openalex.org/W2794065691","https://openalex.org/W2803245620","https://openalex.org/W2890809012","https://openalex.org/W2964933774","https://openalex.org/W2966210355","https://openalex.org/W2970664614","https://openalex.org/W2975457794","https://openalex.org/W3100710916","https://openalex.org/W6754729781","https://openalex.org/W6766575214"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2172235251","https://openalex.org/W2022120107","https://openalex.org/W2624388109"],"abstract_inverted_index":{"Executing":[0],"a":[1,6,36,42,86,122,128,140,150,170,174,190],"robust":[2],"person-following":[3,163],"behaviour":[4],"is":[5,154,166,208],"crucial":[7],"task":[8,88],"for":[9,89,115,189],"service":[10,77],"robots.":[11,92],"This":[12],"requires":[13],"real-time":[14],"tracking":[15,81],"of":[16,26,108,121,139,182,197,220],"the":[17,59,98,135,158,184],"target":[18,80,172],"person":[19,60,141],"and":[20,57,76,82,106,117,144,222],"maintaining":[21],"it":[22,207],"in":[23,68,142,173,199],"its":[24,200],"field":[25],"view":[27],"(FOV)":[28],"as":[29,31],"long":[30,48],"possible":[32],"while":[33,110],"also":[34,209],"keeping":[35],"safe":[37],"distance":[38],"without":[39],"collision.":[40],"Such":[41],"robot":[43,164],"has":[44,97],"to":[45,100,168,211,213],"autonomously":[46],"traverse":[47],"corridors,":[49],"bend":[50],"around":[51,54],"corners,":[52],"curve":[53],"an":[55,69,178,194,204],"obstacle":[56,83],"join":[58],"back,":[61],"or":[62],"even":[63],"wait":[64],"them":[65],"out.":[66],"Thus,":[67,125],"unknown":[70,136],"urban":[71],"setting,":[72],"with":[73],"other":[74],"agents":[75],"robots,":[78],"dynamic":[79,137],"avoidance":[84],"becomes":[85],"challenging":[87],"autonomous":[90],"non-holonomic":[91],"Model":[93],"Predictive":[94],"Control":[95],"(MPC)":[96],"ability":[99],"incorporate":[101],"future":[102],"predictions.":[103],"vehicle":[104],"kinematics,":[105],"non-linearity":[107],"constraints":[109],"still":[111],"being":[112],"reasonably":[113],"fast":[114],"slow":[116],"medium":[118],"walking":[119,215,223],"speeds":[120],"human":[123],"being.":[124],"by":[126],"solving":[127],"single":[129],"non-linear":[130],"MPC":[131,152,185],"we":[132],"can":[133],"track":[134,169],"trajectory":[138,192],"real-time,":[143],"avoid":[145],"undesirable":[146],"proximity.In":[147],"this":[148],"paper,":[149],"constrained":[151],"framework":[153],"designed":[155],"that":[156,217],"meets":[157],"above":[159],"conditions":[160],"gracefully.":[161],"The":[162],"(PFR)":[165],"able":[167,210],"moving":[171],"simulated":[175],"environment.":[176],"With":[177],"adequate":[179],"upper":[180],"margin":[181],"20Hz,":[183],"sends":[186],"velocity":[187],"commands":[188],"collision-free":[191],"among":[193],"increasing":[195],"number":[196],"obstacles":[198],"perceived":[201],"periphery.":[202],"In":[203],"incremental":[205],"fashion,":[206],"adapt":[212],"varying":[214],"behaviour,":[216],"is,":[218],"types":[219],"trajectories":[221],"speed.":[224]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}