{"id":"https://openalex.org/W2346648140","doi":"https://doi.org/10.1177/0278364917733549","title":"Formal verification of obstacle avoidance and navigation of ground robots","display_name":"Formal verification of obstacle avoidance and navigation of ground robots","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2346648140","doi":"https://doi.org/10.1177/0278364917733549","mag":"2346648140"},"language":"en","primary_location":{"id":"doi:10.1177/0278364917733549","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364917733549","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1605.00604","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Stefan Mitsch","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Stefan Mitsch","raw_affiliation_strings":["Computer Science Department, Carnegie Mellon University, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Khalil Ghorbal","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Khalil Ghorbal","raw_affiliation_strings":["Computer Science Department, Carnegie Mellon University, USA","Current address: INRIA, Rennes, France"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Current address: INRIA, Rennes, France","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":null,"display_name":"David Vogelbacher","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"David Vogelbacher","raw_affiliation_strings":["Computer Science Department, Carnegie Mellon University, USA","Current address: Karlsruhe Institute of Technology, Germany"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Current address: Karlsruhe Institute of Technology, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":null,"display_name":"Andr\u00e9 Platzer","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andr\u00e9 Platzer","raw_affiliation_strings":["Computer Science Department, Carnegie Mellon University, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":6.3637,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.97063119,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"36","issue":"12","first_page":"1312","last_page":"1340"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.7754999995231628,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10142","display_name":"Formal Methods in Verification","score":0.7754999995231628,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.08389999717473984,"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/T11125","display_name":"Petri Nets in System Modeling","score":0.03229999914765358,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7921000123023987},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5616000294685364},{"id":"https://openalex.org/keywords/liveness","display_name":"Liveness","score":0.5371000170707703},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.535099983215332},{"id":"https://openalex.org/keywords/mathematical-proof","display_name":"Mathematical proof","score":0.49070000648498535},{"id":"https://openalex.org/keywords/complement","display_name":"Complement (music)","score":0.45489999651908875},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4392000138759613},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.42579999566078186},{"id":"https://openalex.org/keywords/imperfect","display_name":"Imperfect","score":0.41029998660087585}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7921000123023987},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5616000294685364},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5551999807357788},{"id":"https://openalex.org/C15569618","wikidata":"https://www.wikidata.org/wiki/Q3561421","display_name":"Liveness","level":2,"score":0.5371000170707703},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.535099983215332},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4975000023841858},{"id":"https://openalex.org/C108710211","wikidata":"https://www.wikidata.org/wiki/Q11538","display_name":"Mathematical proof","level":2,"score":0.49070000648498535},{"id":"https://openalex.org/C112313634","wikidata":"https://www.wikidata.org/wiki/Q7886648","display_name":"Complement (music)","level":5,"score":0.45489999651908875},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4392000138759613},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.42579999566078186},{"id":"https://openalex.org/C2780310539","wikidata":"https://www.wikidata.org/wiki/Q12547192","display_name":"Imperfect","level":2,"score":0.41029998660087585},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.3978999853134155},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.36579999327659607},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36500000953674316},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3449000120162964},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3370000123977661},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.33649998903274536},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3239000141620636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3163999915122986},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29809999465942383},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.2978000044822693},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.2856000065803528},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2770000100135803},{"id":"https://openalex.org/C19766214","wikidata":"https://www.wikidata.org/wiki/Q4880688","display_name":"Behavior-based robotics","level":4,"score":0.27300000190734863},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.26840001344680786},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2671999931335449},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.25220000743865967},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.2515999972820282},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.25099998712539673}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364917733549","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364917733549","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"},{"id":"pmh:oai:arXiv.org:1605.00604","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1605.00604","pdf_url":"https://arxiv.org/pdf/1605.00604","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:HAL:hal-01658197v1","is_oa":false,"landing_page_url":"https://inria.hal.science/hal-01658197","pdf_url":null,"source":{"id":"https://openalex.org/S4406922466","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"The International Journal of Robotics Research, 2017, 36 (12), pp.1312--1340. ⟨10.1177/0278364917733549⟩","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1605.00604","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1605.00604","pdf_url":"https://arxiv.org/pdf/1605.00604","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W19888102","https://openalex.org/W1489868140","https://openalex.org/W1493971218","https://openalex.org/W1535116423","https://openalex.org/W1575486920","https://openalex.org/W1590463358","https://openalex.org/W1602537577","https://openalex.org/W1968254796","https://openalex.org/W1968813561","https://openalex.org/W1969483458","https://openalex.org/W1974314710","https://openalex.org/W1977444293","https://openalex.org/W1977656637","https://openalex.org/W2000359213","https://openalex.org/W2002201291","https://openalex.org/W2002440441","https://openalex.org/W2016056788","https://openalex.org/W2016063209","https://openalex.org/W2016956950","https://openalex.org/W2023091179","https://openalex.org/W2023473795","https://openalex.org/W2029143333","https://openalex.org/W2042225474","https://openalex.org/W2049768769","https://openalex.org/W2052276506","https://openalex.org/W2060284851","https://openalex.org/W2080884201","https://openalex.org/W2088607916","https://openalex.org/W2091682553","https://openalex.org/W2093227835","https://openalex.org/W2101389394","https://openalex.org/W2107872611","https://openalex.org/W2117211893","https://openalex.org/W2127240436","https://openalex.org/W2130705439","https://openalex.org/W2131505299","https://openalex.org/W2141789581","https://openalex.org/W2151958719","https://openalex.org/W2168604922","https://openalex.org/W2176215692","https://openalex.org/W2177274602","https://openalex.org/W2293857326","https://openalex.org/W2295906355","https://openalex.org/W2296642625","https://openalex.org/W2493608191","https://openalex.org/W2561211292","https://openalex.org/W2747477340","https://openalex.org/W3158724210","https://openalex.org/W3168224710","https://openalex.org/W4229917934","https://openalex.org/W4235340079"],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"answers":[2],"fundamental":[3],"safety":[4,34,74,130,222,237],"questions":[5],"for":[6,93,113,183,197,262,320],"ground":[7,19,94,277,321],"robot":[8,20,46,167,177,206,254],"navigation:":[9],"under":[10,306],"which":[11,14,97,140,153,175,195,307],"circumstances":[12],"does":[13],"control":[15,268,308,318,344,349],"decision":[16],"make":[17,61],"a":[18,58,63,105,301,328],"safely":[21],"avoid":[22,186],"obstacles?":[23],"Unsurprisingly,":[24],"the":[25,29,33,39,45,48,53,78,84,87,119,122,128,166,170,176,202,205,253,263,271,276,324,340,347],"answer":[26],"depends":[27],"on":[28,127],"exact":[30,54],"formulation":[31],"of":[32,44,57,107,111,201,266,275,304,342],"objective,":[35],"as":[36,38,188],"well":[37],"physical":[40,89,99,273],"capabilities":[41],"and":[42,47,71,117,134,190,229,257,270,285],"limitations":[43],"obstacles.":[49],"Because":[50],"uncertainties":[51],"about":[52],"future":[55],"behavior":[56],"robot\u2019s":[59],"environment":[60,214],"this":[62],"challenging":[64],"problem,":[65],"we":[66,103,242,279,330],"formally":[67,135,219,293],"verify":[68,294],"corresponding":[69,281],"controllers":[70,112],"provide":[72],"rigorous":[73],"proofs":[75],"justifying":[76],"why":[77],"robots":[79,95,322],"can":[80,145,158,223],"never":[81],"collide":[82],"with":[83,147,160,239,323,346],"obstacle":[85],"in":[86,96,174,212],"respective":[88],"model.":[90],"To":[91,260],"account":[92,261],"different":[98],"phenomena":[100],"are":[101,310],"important,":[102],"analyze":[104,133],"series":[106],"increasingly":[108,114],"strong":[109],"properties":[110,238],"rich":[115],"dynamics":[116],"identify":[118,300],"impact":[120],"that":[121,142,155,209,221,244,338],"additional":[123],"model":[124],"parameters":[125],"have":[126],"required":[129],"margins.":[131],"We":[132,218,232],"verify:":[136],"(i)":[137],"static":[138],"safety,":[139,152,173,194],"ensures":[141,154],"no":[143,156],"collisions":[144,157],"happen":[146,159],"stationary":[148,161],"obstacles;":[149],"(ii)":[150],"passive":[151,192],"or":[162],"moving":[163],"obstacles":[164,184],"while":[165],"moves;":[168],"(iii)":[169],"stronger":[171],"passive-friendly":[172],"further":[178],"maintains":[179],"sufficient":[180],"maneuvering":[181],"distance":[182],"to":[185,251,292,316],"collision":[187],"well;":[189],"(iv)":[191],"orientation":[193],"allows":[196],"imperfect":[198],"sensor":[199,227],"coverage":[200],"robot,":[203,278],"i.e.,":[204],"is":[207,248],"aware":[208],"not":[210],"everything":[211],"its":[213],"will":[215],"be":[216,224],"visible.":[217],"prove":[220,243],"guaranteed":[225],"despite":[226],"uncertainty":[228],"actuator":[230],"perturbation.":[231],"complement":[233],"these":[234,298],"provably":[235,245,311,333],"correct":[236,334],"liveness":[240],"properties:":[241],"safe":[246],"motion":[247,274],"flexible":[249],"enough":[250],"let":[252],"navigate":[255],"waypoints":[256],"pass":[258],"intersections.":[259],"mixed":[264],"influence":[265],"discrete":[267],"decisions":[269,309],"continuous":[272],"develop":[280],"hybrid":[282],"system":[283],"models":[284,299],"use":[286],"differential":[287],"dynamic":[288],"logic":[289],"theorem-proving":[290],"techniques":[291],"their":[295],"correctness.":[296],"Since":[297],"broad":[302],"range":[303],"conditions":[305,337],"safe,":[312],"our":[313],"results":[314],"apply":[315],"any":[317,343],"algorithm":[319,345],"same":[325],"dynamics.":[326],"As":[327],"demonstration,":[329],"also":[331],"synthesize":[332],"runtime":[335],"monitor":[336],"check":[339],"compliance":[341],"verified":[348],"decisions.":[350]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":6}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2016-06-24T00:00:00"}