{"id":"https://openalex.org/W19888102","doi":"https://doi.org/10.15607/rss.2013.ix.014","title":"On Provably Safe Obstacle Avoidance for Autonomous Robotic Ground Vehicles","display_name":"On Provably Safe Obstacle Avoidance for Autonomous Robotic Ground Vehicles","publication_year":2013,"publication_date":"2013-06-23","ids":{"openalex":"https://openalex.org/W19888102","doi":"https://doi.org/10.15607/rss.2013.ix.014","mag":"19888102"},"language":"en","primary_location":{"id":"doi:10.15607/rss.2013.ix.014","is_oa":true,"landing_page_url":"https://doi.org/10.15607/rss.2013.ix.014","pdf_url":"https://doi.org/10.15607/rss.2013.ix.014","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics: Science and Systems IX","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.15607/rss.2013.ix.014","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071735146","display_name":"Stefan Mitsch","orcid":"https://orcid.org/0000-0002-3194-9759"},"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":["Carnegie Mellon University, Computer Science Department 5000 Forbes Avenue, Pittsburgh PA 15213, USA,","Carnegie Mellon University. Pittsburgh"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Computer Science Department 5000 Forbes Avenue, Pittsburgh PA 15213, USA,","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University. Pittsburgh","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071004982","display_name":"Khalil Ghorbal","orcid":"https://orcid.org/0000-0003-4941-6632"},"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":"Khalil Ghorbal","raw_affiliation_strings":["Carnegie Mellon University, Computer Science Department 5000 Forbes Avenue, Pittsburgh PA 15213, USA,","Carnegie Mellon University. Pittsburgh"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Computer Science Department 5000 Forbes Avenue, Pittsburgh PA 15213, USA,","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University. Pittsburgh","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080481427","display_name":"Andr\u00e9 Platzer","orcid":"https://orcid.org/0000-0001-7238-5710"},"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":"Andre Platzer","raw_affiliation_strings":["Carnegie Mellon University, Computer Science Department 5000 Forbes Avenue, Pittsburgh PA 15213, USA,","Carnegie Mellon University. Pittsburgh"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Computer Science Department 5000 Forbes Avenue, Pittsburgh PA 15213, USA,","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University. Pittsburgh","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5071735146"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":7.4638,"has_fulltext":true,"cited_by_count":88,"citation_normalized_percentile":{"value":0.97592132,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"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":0.9998999834060669,"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/T10142","display_name":"Formal Methods in Verification","score":0.9976999759674072,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.994700014591217,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.840348482131958},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7928051352500916},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7887749671936035},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7574906945228577},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.622663676738739},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6137501001358032},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.48885267972946167},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.476965069770813},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4276285171508789},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4191458821296692},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3830644190311432},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2825077176094055},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24602511525154114},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.153509259223938}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.840348482131958},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7928051352500916},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7887749671936035},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7574906945228577},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.622663676738739},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6137501001358032},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.48885267972946167},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.476965069770813},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4276285171508789},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4191458821296692},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3830644190311432},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2825077176094055},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24602511525154114},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.153509259223938},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.15607/rss.2013.ix.014","is_oa":true,"landing_page_url":"https://doi.org/10.15607/rss.2013.ix.014","pdf_url":"https://doi.org/10.15607/rss.2013.ix.014","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics: Science and Systems IX","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.cmu.edu:compsci-3720","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=3720&context=compsci","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Computer Science Department","raw_type":"text"},{"id":"pmh:doi:10.1184/r1/6607886","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":null,"raw_type":"Journal contribution"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.298.1005","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.298.1005","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://symbolaris.com/pub/robix.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.310.309","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.310.309","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.roboticsproceedings.org/rss09/p14.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.847.5674","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.847.5674","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://repository.cmu.edu/cgi/viewcontent.cgi?article%3D3720%26context%3Dcompsci","raw_type":"text"},{"id":"pmh:oai:HAL:hal-01660907v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01660907","pdf_url":null,"source":null,"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics: Science and Systems IX, Technische Universit\u00e4t Berlin, Berlin, Germany, June 24 - June 28, 2013, 2013, Berlin, Germany","raw_type":"Conference papers"}],"best_oa_location":{"id":"doi:10.15607/rss.2013.ix.014","is_oa":true,"landing_page_url":"https://doi.org/10.15607/rss.2013.ix.014","pdf_url":"https://doi.org/10.15607/rss.2013.ix.014","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics: Science and Systems IX","raw_type":"proceedings-article"},"sustainable_development_goals":[{"score":0.5,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1901562902","display_name":"Collaborative Research: Next-Generation Model Checking and Abstract Interpretation with a Focus on Embedded Control and Systems Biology","funder_award_id":"0926181","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3489332051","display_name":"CAREER: Logical Foundations of Cyber-Physical Systems","funder_award_id":"1054246","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3975938205","display_name":null,"funder_award_id":"CNS-1054246","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4430952428","display_name":null,"funder_award_id":"FA8750-12-2-029","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G4713059963","display_name":null,"funder_award_id":"FA8750","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G6671297155","display_name":null,"funder_award_id":"CAREER","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6935119311","display_name":null,"funder_award_id":"FA8750-12-2-0291","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G7265224584","display_name":null,"funder_award_id":"DARPA FA8750-12-2-0291","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320315709","display_name":"Tobacco Settlement Endowment Trust","ror":null},{"id":"https://openalex.org/F4320323033","display_name":"Bundesministerium f\u00fcr Verkehr, Innovation und Technologie","ror":"https://ror.org/04marky29"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W19888102.pdf","grobid_xml":"https://content.openalex.org/works/W19888102.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1493971218","https://openalex.org/W1510918931","https://openalex.org/W1575486920","https://openalex.org/W1968813561","https://openalex.org/W1974314710","https://openalex.org/W1977444293","https://openalex.org/W1977656637","https://openalex.org/W2002201291","https://openalex.org/W2002440441","https://openalex.org/W2016956950","https://openalex.org/W2023091179","https://openalex.org/W2023473795","https://openalex.org/W2029143333","https://openalex.org/W2042225474","https://openalex.org/W2052276506","https://openalex.org/W2104332709","https://openalex.org/W2105289524","https://openalex.org/W2107872611","https://openalex.org/W2117211893","https://openalex.org/W2130705439","https://openalex.org/W2131505299","https://openalex.org/W2133099608","https://openalex.org/W2168604922","https://openalex.org/W2176215692","https://openalex.org/W2177274602","https://openalex.org/W2293857326","https://openalex.org/W2295789115","https://openalex.org/W2541860252","https://openalex.org/W3158724210","https://openalex.org/W4245959779"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2023024008","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1911254468","https://openalex.org/W1506523185","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W1819938260","https://openalex.org/W2782776446"],"abstract_inverted_index":{"Nowadays,":[0],"robots":[1],"interact":[2],"more":[3],"frequently":[4],"with":[5,17,103],"a":[6],"dynamic":[7],"environment":[8],"outside":[9],"limited":[10],"manufacturing":[11],"sites":[12],"and":[13,23,43,60,88,94,120],"in":[14,67],"close":[15],"proximity":[16],"humans.":[18],"Thus,":[19],"safety":[20,28,37,66,113],"of":[21,30,39],"motion":[22],"obstacle":[24],"avoidance":[25],"are":[26],"vital":[27],"features":[29],"such":[31],"robots.":[32],"We":[33,83],"formally":[34,95,110],"study":[35],"two":[36],"properties":[38],"avoiding":[40],"both":[41],"stationary":[42],"moving":[44],"obstacles:":[45],"(i)":[46],"passive":[47,64],"safety,":[48],"which":[49,68],"ensures":[50],"that":[51,92,112],"no":[52],"collisions":[53],"can":[54,114],"happen":[55],"while":[56],"the":[57,62,69,97],"robot":[58,70],"moves,":[59],"(ii)":[61],"stronger":[63],"friendly":[65],"further":[71],"maintains":[72],"sufficient":[73],"maneuvering":[74],"distance":[75],"for":[76],"obstacles":[77],"to":[78],"avoid":[79],"collision":[80],"as":[81],"well.":[82],"use":[84],"hybrid":[85],"system":[86],"models":[87],"theorem":[89],"proving":[90],"techniques":[91],"describe":[93],"verify":[96],"robot's":[98],"discrete":[99],"control":[100],"decisions":[101],"along":[102],"its":[104],"continuous,":[105],"physical":[106],"motion.":[107],"Moreover,":[108],"we":[109],"prove":[111],"still":[115],"be":[116],"guaranteed":[117],"despite":[118],"location":[119],"actuator":[121],"uncertainty.":[122]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":11}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
