{"id":"https://openalex.org/W3186308521","doi":"https://doi.org/10.23919/acc50511.2021.9483196","title":"Robust Path Planning and Control For Polygonal Environments via Linear Programming","display_name":"Robust Path Planning and Control For Polygonal Environments via Linear Programming","publication_year":2021,"publication_date":"2021-05-25","ids":{"openalex":"https://openalex.org/W3186308521","doi":"https://doi.org/10.23919/acc50511.2021.9483196","mag":"3186308521"},"language":"en","primary_location":{"id":"doi:10.23919/acc50511.2021.9483196","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9483196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5058074218","display_name":"Mahroo Bahreinian","orcid":"https://orcid.org/0000-0002-2103-597X"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mahroo Bahreinian","raw_affiliation_strings":["Division of Systems Engineering, Boston University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Systems Engineering, Boston University, Boston, MA, USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042146883","display_name":"Erfan Aasi","orcid":null},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erfan Aasi","raw_affiliation_strings":["Department of Mechanical Engineering, Boston University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Boston University, Boston, MA, USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031884953","display_name":"Roberto Tron","orcid":"https://orcid.org/0000-0002-6676-8595"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roberto Tron","raw_affiliation_strings":["Faculty of Department of Mechanical Engineering, Boston University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Department of Mechanical Engineering, Boston University, Boston, MA, USA","institution_ids":["https://openalex.org/I111088046"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I111088046"],"apc_list":null,"apc_paid":null,"fwci":0.7638,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.80839987,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5035","last_page":"5042"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991999864578247,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9976999759674072,"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/linear-programming","display_name":"Linear programming","score":0.6996980309486389},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.6192306876182556},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6001359224319458},{"id":"https://openalex.org/keywords/piecewise-linear-function","display_name":"Piecewise linear function","score":0.5718011856079102},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5491646528244019},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.46634310483932495},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46572181582450867},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44085875153541565},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.44025540351867676},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4356743097305298},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.43330901861190796},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.4294359087944031},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4191013276576996},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37625622749328613},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.22587203979492188},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.21296319365501404},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12733891606330872}],"concepts":[{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.6996980309486389},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.6192306876182556},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6001359224319458},{"id":"https://openalex.org/C17095337","wikidata":"https://www.wikidata.org/wiki/Q2375229","display_name":"Piecewise linear function","level":2,"score":0.5718011856079102},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5491646528244019},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.46634310483932495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46572181582450867},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44085875153541565},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.44025540351867676},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4356743097305298},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.43330901861190796},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.4294359087944031},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4191013276576996},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37625622749328613},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.22587203979492188},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.21296319365501404},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12733891606330872},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc50511.2021.9483196","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9483196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W580909263","https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1762430620","https://openalex.org/W1891170951","https://openalex.org/W1957861458","https://openalex.org/W1971086298","https://openalex.org/W1980569135","https://openalex.org/W2000359213","https://openalex.org/W2103120971","https://openalex.org/W2104332709","https://openalex.org/W2110144538","https://openalex.org/W2116647221","https://openalex.org/W2128990851","https://openalex.org/W2156229411","https://openalex.org/W2156969101","https://openalex.org/W2165337613","https://openalex.org/W2165744968","https://openalex.org/W2166691751","https://openalex.org/W2171879251","https://openalex.org/W2296356821","https://openalex.org/W2317926736","https://openalex.org/W2326206646","https://openalex.org/W2468433498","https://openalex.org/W2489231587","https://openalex.org/W2611243847","https://openalex.org/W2727854388","https://openalex.org/W2749680651","https://openalex.org/W2764291795","https://openalex.org/W2770250394","https://openalex.org/W2973005513","https://openalex.org/W4251616545","https://openalex.org/W4292249799","https://openalex.org/W6684401311"],"related_works":["https://openalex.org/W3173321515","https://openalex.org/W2367938014","https://openalex.org/W2743650898","https://openalex.org/W2201623492","https://openalex.org/W2023893673","https://openalex.org/W2369734084","https://openalex.org/W2784100870","https://openalex.org/W2354774539","https://openalex.org/W1972615387","https://openalex.org/W2007464938"],"abstract_inverted_index":{"We":[0,105,131],"propose":[1],"a":[2,23,33,45,102,203],"novel":[3],"approach":[4,146],"for":[5],"navigating":[6],"in":[7,89,101,148,178],"polygonal":[8],"environments":[9],"by":[10,85,116],"synthesizing":[11],"controllers":[12],"that":[13,80,107,166],"take":[14],"as":[15],"input":[16],"relative":[17],"displacement":[18],"measurements":[19],"with":[20,137,154],"respect":[21,173],"to":[22,68,135,151,174,183,191,193,208],"set":[24],"of":[25,35,44,48,126,186,211],"landmarks.":[26],"Our":[27],"algorithm":[28,134],"is":[29,147],"based":[30],"on":[31,41,202],"solving":[32],"sequence":[34],"robust":[36,103,190],"min-max":[37,109],"Linear":[38],"Programming":[39],"problems":[40,53,111],"the":[42,49,87,93,98,108,124,127,167,175,179,194,212],"elements":[43],"cell":[46],"decomposition":[47],"environment.":[50,213],"The":[51,75],"optimization":[52,110],"are":[54,83,170,181,189],"formulated":[55],"using":[56],"linear":[57,121,156,184],"Control":[58,63],"Lyapunov":[59],"Function":[60,65],"(CLF)":[61],"and":[62,71,139,162,207],"Barrier":[64],"(CBF)":[66],"constraints,":[67],"provide":[69],"stability":[70],"safety":[72],"guarantees,":[73],"respectively.":[74],"inner":[76,128],"maximization":[77,129],"problem":[78,96],"ensures":[79],"these":[81],"constraints":[82,100],"met":[84],"all":[86],"points":[88],"each":[90],"cell,":[91],"while":[92],"outer":[94],"minimization":[95],"balances":[97],"different":[99],"way.":[104],"show":[106,165],"can":[112],"be":[113],"solved":[114],"efficiently":[115],"transforming":[117],"it":[118],"into":[119],"regular":[120],"programming":[122],"via":[123],"dualization":[125],"problem.":[130],"test":[132],"our":[133,145,159],"agents":[136],"first":[138],"second":[140],"order":[141],"integrator":[142],"dynamics,":[143],"although":[144],"principle":[149],"applicable":[150,182],"any":[152,187],"system":[153],"piecewise":[155],"dynamics.":[157],"Through":[158],"theoretical":[160],"results":[161],"simulations,":[163],"we":[164],"resulting":[168],"controllers:":[169],"optimal":[171],"(with":[172],"criterion":[176],"used":[177],"formulation),":[180],"systems":[185],"order,":[188],"changes":[192],"start":[195],"location":[196],"(since":[197],"they":[198],"do":[199],"not":[200],"rely":[201],"single":[204],"nominal":[205],"path),":[206],"significant":[209],"deformations":[210]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}