{"id":"https://openalex.org/W3000632571","doi":"https://doi.org/10.1109/lra.2020.2967332","title":"Wall Deadlock Evasion Control Based on Rotation Radius Adjustment","display_name":"Wall Deadlock Evasion Control Based on Rotation Radius Adjustment","publication_year":2020,"publication_date":"2020-01-17","ids":{"openalex":"https://openalex.org/W3000632571","doi":"https://doi.org/10.1109/lra.2020.2967332","mag":"3000632571"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2967332","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967332","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/8932682/08962032.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/8932682/08962032.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101506282","display_name":"Shotaro Kojima","orcid":"https://orcid.org/0000-0003-0042-1764"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Shotaro Kojima","raw_affiliation_strings":["Graduate School of Information Science, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0003-0042-1764","affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055778007","display_name":"Kazunori Ohno","orcid":"https://orcid.org/0000-0003-3958-2901"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]},{"id":"https://openalex.org/I4210126580","display_name":"RIKEN Center for Advanced Intelligence Project","ror":"https://ror.org/03ckxwf91","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210110652","https://openalex.org/I4210126580"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazunori Ohno","raw_affiliation_strings":["New Industry Creation Hatchery Center, NICHe Tohoku University, Sendai, Japan","RIKEN Center for Advanced Intelligence Project, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-3958-2901","affiliations":[{"raw_affiliation_string":"New Industry Creation Hatchery Center, NICHe Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"RIKEN Center for Advanced Intelligence Project, Tokyo, Japan","institution_ids":["https://openalex.org/I4210126580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088432056","display_name":"Takahiro Suzuki","orcid":"https://orcid.org/0000-0001-6179-0614"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Suzuki","raw_affiliation_strings":["New Industry Creation Hatchery Center, NICHe Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New Industry Creation Hatchery Center, NICHe Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073956776","display_name":"Yoshito Okada","orcid":"https://orcid.org/0000-0003-3830-079X"},"institutions":[{"id":"https://openalex.org/I4210126580","display_name":"RIKEN Center for Advanced Intelligence Project","ror":"https://ror.org/03ckxwf91","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210110652","https://openalex.org/I4210126580"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshito Okada","raw_affiliation_strings":["RIKEN Center for Advanced Intelligence Project, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-3830-079X","affiliations":[{"raw_affiliation_string":"RIKEN Center for Advanced Intelligence Project, Tokyo, Japan","institution_ids":["https://openalex.org/I4210126580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065513440","display_name":"Thomas Westfechtel","orcid":"https://orcid.org/0000-0002-3665-5725"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Thomas Westfechtel","raw_affiliation_strings":["Graduate School of Information Science, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3665-5725","affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014118063","display_name":"Satosh\u0131 Tadokoro","orcid":"https://orcid.org/0000-0002-5571-4276"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Tadokoro","raw_affiliation_strings":["Graduate School of Information Science, Tohoku University, Sendai, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5571-4276","affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101506282"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00901917,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"5","issue":"2","first_page":"1358","last_page":"1365"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9988999962806702,"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/deadlock","display_name":"Deadlock","score":0.8031772375106812},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.6602523922920227},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6443267464637756},{"id":"https://openalex.org/keywords/radius","display_name":"RADIUS","score":0.6116191744804382},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5582232475280762},{"id":"https://openalex.org/keywords/rotation-around-a-fixed-axis","display_name":"Rotation around a fixed axis","score":0.5046690702438354},{"id":"https://openalex.org/keywords/evasion","display_name":"Evasion (ethics)","score":0.5025990009307861},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.486825168132782},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47483354806900024},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4567800760269165},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32679030299186707},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24501922726631165},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.23228105902671814},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22218069434165955},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1857956349849701},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.09277772903442383},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07102680206298828}],"concepts":[{"id":"https://openalex.org/C159023740","wikidata":"https://www.wikidata.org/wiki/Q623276","display_name":"Deadlock","level":2,"score":0.8031772375106812},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.6602523922920227},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6443267464637756},{"id":"https://openalex.org/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.6116191744804382},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5582232475280762},{"id":"https://openalex.org/C6342182","wikidata":"https://www.wikidata.org/wiki/Q2995427","display_name":"Rotation around a fixed axis","level":2,"score":0.5046690702438354},{"id":"https://openalex.org/C2781251061","wikidata":"https://www.wikidata.org/wiki/Q5416089","display_name":"Evasion (ethics)","level":3,"score":0.5025990009307861},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.486825168132782},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47483354806900024},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4567800760269165},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32679030299186707},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24501922726631165},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.23228105902671814},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22218069434165955},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1857956349849701},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.09277772903442383},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07102680206298828},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C8891405","wikidata":"https://www.wikidata.org/wiki/Q1059","display_name":"Immune system","level":2,"score":0.0},{"id":"https://openalex.org/C203014093","wikidata":"https://www.wikidata.org/wiki/Q101929","display_name":"Immunology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2967332","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967332","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/8932682/08962032.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2020.2967332","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967332","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/8932682/08962032.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3000632571.pdf","grobid_xml":"https://content.openalex.org/works/W3000632571.grobid-xml"},"referenced_works_count":12,"referenced_works":["https://openalex.org/W1553048268","https://openalex.org/W1904099185","https://openalex.org/W1980553196","https://openalex.org/W1984148980","https://openalex.org/W2057650923","https://openalex.org/W2105660272","https://openalex.org/W2117211893","https://openalex.org/W2125409550","https://openalex.org/W2136914764","https://openalex.org/W2150367199","https://openalex.org/W2561490485","https://openalex.org/W2603480967"],"related_works":["https://openalex.org/W397120980","https://openalex.org/W2373230814","https://openalex.org/W1528537929","https://openalex.org/W3021060317","https://openalex.org/W2971368204","https://openalex.org/W2169868145","https://openalex.org/W2127991899","https://openalex.org/W2990788608","https://openalex.org/W2149817600","https://openalex.org/W2140937809"],"abstract_inverted_index":{"This":[0],"letter":[1],"describes":[2],"a":[3,14,29,64,96],"wall":[4,88,98,127,184],"deadlock":[5,12,99,128,154],"evasion":[6,100,129,155],"method":[7,101,130],"for":[8,192],"tracked":[9],"vehicles.":[10],"Wall":[11,153],"is":[13,34,131],"phenomenon":[15],"where":[16],"the":[17,22,32,37,50,80,85,93,104,113,124,145,167,174,186],"robot":[18,114,175],"cannot":[19],"rotate":[20],"to":[21,53,62,74,166],"commanded":[23],"direction":[24],"when":[25],"it":[26],"collides":[27],"with":[28,144],"wall,":[30],"because":[31],"motion":[33,118,142,160,193],"restricted":[35],"by":[36,78,123],"wall.":[38],"The":[39,126],"key":[40],"idea":[41],"behind":[42],"solving":[43],"this":[44,76,91],"problem":[45,77],"involves":[46],"an":[47],"adjustment":[48],"of":[49,87,139,141,159],"rotation":[51,81,106],"radius":[52,82,107],"generate":[54,63,116],"sufficient":[55,105],"rotational":[56,65,117],"moment.":[57],"There":[58],"are":[59],"several":[60],"approaches":[61],"moment;":[66],"however,":[67],"no":[68],"previous":[69,151],"solution":[70],"has":[71],"been":[72],"established":[73],"address":[75],"adjusting":[79],"based":[83,102],"on":[84,103],"dynamics":[86],"deadlock.":[89],"In":[90],"letter,":[92],"authors":[94],"propose":[95],"new":[97],"estimation.":[108],"Experimental":[109],"results":[110],"show":[111],"that":[112,119,173],"can":[115,176,188],"satisfies":[120],"conditions":[121],"expected":[122],"model.":[125],"implemented":[132],"and":[133,171],"shows":[134],"improved":[135],"performance":[136],"in":[137,149,194,202],"terms":[138],"reproducibility":[140],"compared":[143],"different":[146],"approach":[147],"proposed":[148],"our":[150],"work.":[152],"provides":[156],"more":[157],"choices":[158],"such":[161,180,196],"as":[162,164,169,197],"being":[163],"close":[165],"obstacles":[168],"possible":[170],"ensures":[172],"continue":[177],"locomotion":[178],"after":[179],"motion.":[181],"By":[182],"handling":[183],"deadlock,":[185],"robots":[187],"utilize":[189],"surrounding":[190],"walls":[191],"situations":[195],"relative":[198],"positioning":[199],"or":[200],"driving":[201],"fixed":[203],"lanes.":[204]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
