{"id":"https://openalex.org/W1965760189","doi":"https://doi.org/10.1177/0278364915576234","title":"Generalized reciprocal collision avoidance","display_name":"Generalized reciprocal collision avoidance","publication_year":2015,"publication_date":"2015-04-29","ids":{"openalex":"https://openalex.org/W1965760189","doi":"https://doi.org/10.1177/0278364915576234","mag":"1965760189"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915576234","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915576234","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5078661988","display_name":"Daman Bareiss","orcid":null},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Daman Bareiss","raw_affiliation_strings":["Department of Mechanical Engineering, University of Utah, UT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Utah, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108617083","display_name":"Jur van den Berg","orcid":null},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jur van den Berg","raw_affiliation_strings":["School of Computing, University of Utah, UT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing, University of Utah, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5078661988"],"corresponding_institution_ids":["https://openalex.org/I223532165"],"apc_list":null,"apc_paid":null,"fwci":8.2351,"has_fulltext":false,"cited_by_count":182,"citation_normalized_percentile":{"value":0.98358422,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"34","issue":"12","first_page":"1501","last_page":"1514"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.996999979019165,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5440780520439148},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5308308005332947},{"id":"https://openalex.org/keywords/reciprocal","display_name":"Reciprocal","score":0.5158359408378601},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.503731906414032},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5011422634124756},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4750937223434448},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.464931458234787},{"id":"https://openalex.org/keywords/differential-equation","display_name":"Differential equation","score":0.44509702920913696},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4366842210292816},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.42026636004447937},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39067357778549194},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1838172972202301},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16480478644371033},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16148391366004944},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.11558252573013306}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5440780520439148},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5308308005332947},{"id":"https://openalex.org/C2777742833","wikidata":"https://www.wikidata.org/wiki/Q1964083","display_name":"Reciprocal","level":2,"score":0.5158359408378601},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.503731906414032},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5011422634124756},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4750937223434448},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.464931458234787},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.44509702920913696},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4366842210292816},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.42026636004447937},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39067357778549194},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1838172972202301},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16480478644371033},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16148391366004944},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.11558252573013306},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364915576234","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915576234","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W85593233","https://openalex.org/W178419168","https://openalex.org/W192919555","https://openalex.org/W1535928210","https://openalex.org/W1976517551","https://openalex.org/W2000790002","https://openalex.org/W2002440441","https://openalex.org/W2036016432","https://openalex.org/W2045210566","https://openalex.org/W2084916646","https://openalex.org/W2098418676","https://openalex.org/W2115792596","https://openalex.org/W2117211893","https://openalex.org/W2120092273","https://openalex.org/W2120794503","https://openalex.org/W2142943472","https://openalex.org/W2147756883","https://openalex.org/W2148983268","https://openalex.org/W2158400962","https://openalex.org/W2166052572","https://openalex.org/W2265008281","https://openalex.org/W3140331270","https://openalex.org/W3149551512","https://openalex.org/W4246432872"],"related_works":["https://openalex.org/W2391753177","https://openalex.org/W2996284460","https://openalex.org/W4298337043","https://openalex.org/W1966306316","https://openalex.org/W4285058191","https://openalex.org/W2052414331","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"Reciprocal":[0],"collision":[1,93,120],"avoidance":[2,94,121],"has":[3],"become":[4],"a":[5,18,46,53,132,185,198,209,215,230],"popular":[6],"area":[7],"of":[8,20,34,48,78,87,111,135,138,157,187,193,211,228,233,238],"research":[9],"over":[10],"recent":[11],"years.":[12],"Approaches":[13],"have":[14,103,152],"been":[15],"developed":[16],"for":[17,95,162,184],"variety":[19,186],"dynamic":[21],"systems":[22,98,148],"ranging":[23],"from":[24,113],"single":[25],"integrators":[26],"to":[27,90,118,126,145,166],"car-like,":[28,200],"differential-drive,":[29,195,212],"and":[30,73,107,140,201,217],"arbitrary,":[31],"linear":[32,147,155],"equations":[33,110,137,156,192,237],"motion.":[35,158],"In":[36,60],"this":[37],"paper,":[38],"we":[39,44,62,83],"present":[40,84],"two":[41],"contributions.":[42],"First,":[43],"provide":[45],"unification":[47],"these":[49],"previous":[50],"approaches":[51,117],"under":[52],"single,":[54],"generalized":[55,80],"representation":[56],"using":[57],"control":[58,71,88,170],"obstacles.":[59],"particular,":[61],"show":[63,222],"how":[64],"velocity":[65,68],"obstacles,":[66,69,72],"acceleration":[67],"continuous":[70],"LQR-obstacles":[74],"are":[75],"special":[76],"instances":[77],"our":[79,180,224],"framework.":[81],"Secondly,":[82],"an":[85],"extension":[86],"obstacles":[89],"general":[91,163],"reciprocal":[92,119],"non-linear,":[96],"non-homogeneous":[97,231],"where":[99,149],"the":[100,136,153],"robots":[101,151,165,189,234],"may":[102],"different":[104,108],"state":[105],"spaces":[106],"non-linear":[109,191,236],"motion":[112,139,239],"one":[114],"another.":[115],"Previous":[116],"could":[122],"not":[123],"be":[124],"applied":[125],"such":[127],"systems,":[128],"as":[129],"they":[130],"use":[131],"relative":[133],"formulation":[134],"can,":[141],"therefore,":[142],"only":[143],"apply":[144],"homogeneous,":[146],"all":[150],"same":[154],"Our":[159,220],"approach":[160,181,225],"allows":[161],"mobile":[164,188],"independently":[167],"select":[168],"new":[169],"inputs":[171],"while":[172],"avoiding":[173],"collisions":[174,242],"with":[175,190,197,208,214,235],"each":[176],"other.":[177],"We":[178,203],"implemented":[179],"in":[182],"simulation":[183],"motion:":[194],"differential-drive":[196,213],"trailer,":[199,216],"hovercrafts.":[202],"also":[204],"performed":[205],"physical":[206],"experiments":[207],"combination":[210],"car-like":[218],"robots.":[219],"results":[221],"that":[223],"is":[226],"capable":[227],"letting":[229],"group":[232],"safely":[240],"avoid":[241],"at":[243],"real-time":[244],"computation":[245],"rates.":[246]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":24},{"year":2021,"cited_by_count":25},{"year":2020,"cited_by_count":27},{"year":2019,"cited_by_count":18},{"year":2018,"cited_by_count":26},{"year":2017,"cited_by_count":14},{"year":2016,"cited_by_count":4}],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}
