{"id":"https://openalex.org/W3216648812","doi":"https://doi.org/10.1109/icstcc52150.2021.9607209","title":"Tightening polytopic constraint in MPC designs for mobile robot navigation","display_name":"Tightening polytopic constraint in MPC designs for mobile robot navigation","publication_year":2021,"publication_date":"2021-10-20","ids":{"openalex":"https://openalex.org/W3216648812","doi":"https://doi.org/10.1109/icstcc52150.2021.9607209","mag":"3216648812"},"language":"en","primary_location":{"id":"doi:10.1109/icstcc52150.2021.9607209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icstcc52150.2021.9607209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 25th 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/A5028083853","display_name":"Ngoc Thinh Nguyen","orcid":"https://orcid.org/0000-0002-4923-6941"},"institutions":[{"id":"https://openalex.org/I9341345","display_name":"University of L\u00fcbeck","ror":"https://ror.org/00t3r8h32","country_code":"DE","type":"education","lineage":["https://openalex.org/I9341345"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Ngoc Thinh Nguyen","raw_affiliation_strings":["Institute for Robotics and Cognitive Systems University of Luebeck, Luebeck, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Cognitive Systems University of Luebeck, Luebeck, Germany","institution_ids":["https://openalex.org/I9341345"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089302816","display_name":"Georg Schildbach","orcid":"https://orcid.org/0000-0002-8319-8854"},"institutions":[{"id":"https://openalex.org/I9341345","display_name":"University of L\u00fcbeck","ror":"https://ror.org/00t3r8h32","country_code":"DE","type":"education","lineage":["https://openalex.org/I9341345"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georg Schildbach","raw_affiliation_strings":["Institute for Electrical Engineering in Medicine University of Luebeck, Luebeck, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Electrical Engineering in Medicine University of Luebeck, Luebeck, Germany","institution_ids":["https://openalex.org/I9341345"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5028083853"],"corresponding_institution_ids":["https://openalex.org/I9341345"],"apc_list":null,"apc_paid":null,"fwci":0.3843,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.62045752,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9962999820709229,"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":0.9962999820709229,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9890999794006348,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/constraint","display_name":"Constraint (computer-aided design)","score":0.8500080108642578},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6419856548309326},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6190717220306396},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.544712483882904},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5410301685333252},{"id":"https://openalex.org/keywords/polytope","display_name":"Polytope","score":0.5375852584838867},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5087569355964661},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4115200638771057},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3829832673072815},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25905466079711914},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25843656063079834}],"concepts":[{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.8500080108642578},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6419856548309326},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6190717220306396},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.544712483882904},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5410301685333252},{"id":"https://openalex.org/C145691206","wikidata":"https://www.wikidata.org/wiki/Q747980","display_name":"Polytope","level":2,"score":0.5375852584838867},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5087569355964661},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4115200638771057},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3829832673072815},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25905466079711914},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25843656063079834},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icstcc52150.2021.9607209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icstcc52150.2021.9607209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 25th International Conference on System Theory, Control and Computing (ICSTCC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W75509891","https://openalex.org/W153294671","https://openalex.org/W1578293866","https://openalex.org/W1971086298","https://openalex.org/W2022144586","https://openalex.org/W2066955564","https://openalex.org/W2123871098","https://openalex.org/W2344179576","https://openalex.org/W2754918589","https://openalex.org/W2769697319","https://openalex.org/W2884723502","https://openalex.org/W2911846823","https://openalex.org/W3007012987","https://openalex.org/W3105161877","https://openalex.org/W4200560189","https://openalex.org/W6746118473","https://openalex.org/W6786017308","https://openalex.org/W6805451089"],"related_works":["https://openalex.org/W4280529077","https://openalex.org/W2507185596","https://openalex.org/W1493684871","https://openalex.org/W4286224459","https://openalex.org/W2886567582","https://openalex.org/W4289703404","https://openalex.org/W4387265813","https://openalex.org/W3103454236","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"We":[0,45],"introduce":[1],"a":[2,6,24,57],"new":[3],"implementation":[4],"of":[5,35,84],"standard":[7],"linear":[8],"polytopic":[9,43,58],"constraint":[10,18],"which":[11,64],"allows":[12],"not":[13],"only":[14],"to":[15,22,29,54],"validate":[16],"the":[17,27,30,33,36,48,62,66,75,80,85],"itself":[19],"but":[20],"also":[21,46],"encourage":[23],"distance":[25],"from":[26],"system":[28],"boundary":[31],"(i.e.":[32],"edges":[34],"polytope),":[37],"and":[38,72,82],"hence,":[39],"is":[40],"called":[41],"tightening":[42,68],"constraint.":[44,69],"present":[47],"MPC":[49],"designs":[50],"for":[51],"mobile":[52],"robots":[53],"navigate":[55],"within":[56],"working":[59],"zone":[60],"towards":[61],"goal,":[63],"employ":[65],"proposed":[67,86],"Extensive":[70],"simulations":[71],"comparison":[73],"with":[74],"potential":[76],"field":[77],"approach":[78],"show":[79],"effectiveness":[81],"advantages":[83],"methods.":[87]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}