{"id":"https://openalex.org/W4294692105","doi":"https://doi.org/10.23919/acc53348.2022.9867246","title":"Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions","display_name":"Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions","publication_year":2022,"publication_date":"2022-06-08","ids":{"openalex":"https://openalex.org/W4294692105","doi":"https://doi.org/10.23919/acc53348.2022.9867246"},"language":"en","primary_location":{"id":"doi:10.23919/acc53348.2022.9867246","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867246","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-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/A5007710202","display_name":"Akshay Thirugnanam","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Akshay Thirugnanam","raw_affiliation_strings":["UC Berkeley,Hybrid Robotics Group at the Department of Mechanical-Engineering,USA","Hybrid Robotics Group at the Department of Mechanical-Engineering, UC Berkeley, USA"],"affiliations":[{"raw_affiliation_string":"UC Berkeley,Hybrid Robotics Group at the Department of Mechanical-Engineering,USA","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Hybrid Robotics Group at the Department of Mechanical-Engineering, UC Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025019073","display_name":"Jun Zeng","orcid":"https://orcid.org/0000-0002-8049-042X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jun Zeng","raw_affiliation_strings":["UC Berkeley,Hybrid Robotics Group at the Department of Mechanical-Engineering,USA","Hybrid Robotics Group at the Department of Mechanical-Engineering, UC Berkeley, USA"],"affiliations":[{"raw_affiliation_string":"UC Berkeley,Hybrid Robotics Group at the Department of Mechanical-Engineering,USA","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Hybrid Robotics Group at the Department of Mechanical-Engineering, UC Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054075105","display_name":"Koushil Sreenath","orcid":"https://orcid.org/0000-0002-5346-3637"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Koushil Sreenath","raw_affiliation_strings":["UC Berkeley,Hybrid Robotics Group at the Department of Mechanical-Engineering,USA","Hybrid Robotics Group at the Department of Mechanical-Engineering, UC Berkeley, USA"],"affiliations":[{"raw_affiliation_string":"UC Berkeley,Hybrid Robotics Group at the Department of Mechanical-Engineering,USA","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Hybrid Robotics Group at the Department of Mechanical-Engineering, UC Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007710202"],"corresponding_institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":1.4392,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.87794097,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2239","last_page":"2246"},"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":0.9970999956130981,"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":0.9916999936103821,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8547974824905396},{"id":"https://openalex.org/keywords/polytope","display_name":"Polytope","score":0.6790654063224792},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6314846277236938},{"id":"https://openalex.org/keywords/duality","display_name":"Duality (order theory)","score":0.6044397354125977},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.5518327355384827},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.518559992313385},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5154315233230591},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4787387251853943},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4378596544265747},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4343092441558838},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4229263365268707},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3711124062538147},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2666686177253723},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23278024792671204},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14574581384658813},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13502821326255798},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.06660076975822449}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8547974824905396},{"id":"https://openalex.org/C145691206","wikidata":"https://www.wikidata.org/wiki/Q747980","display_name":"Polytope","level":2,"score":0.6790654063224792},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6314846277236938},{"id":"https://openalex.org/C2778023678","wikidata":"https://www.wikidata.org/wiki/Q554403","display_name":"Duality (order theory)","level":2,"score":0.6044397354125977},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.5518327355384827},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.518559992313385},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5154315233230591},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4787387251853943},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4378596544265747},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4343092441558838},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4229263365268707},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3711124062538147},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2666686177253723},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23278024792671204},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14574581384658813},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13502821326255798},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.06660076975822449},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc53348.2022.9867246","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867246","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W207855064","https://openalex.org/W1524886571","https://openalex.org/W1891170951","https://openalex.org/W2022494878","https://openalex.org/W2027311349","https://openalex.org/W2030143759","https://openalex.org/W2034626595","https://openalex.org/W2048723778","https://openalex.org/W2101620874","https://openalex.org/W2123871098","https://openalex.org/W2142224528","https://openalex.org/W2166316739","https://openalex.org/W2166797227","https://openalex.org/W2489231587","https://openalex.org/W2489820110","https://openalex.org/W2589869525","https://openalex.org/W2620840602","https://openalex.org/W2735010720","https://openalex.org/W2749680651","https://openalex.org/W2898971174","https://openalex.org/W2899087494","https://openalex.org/W2954740751","https://openalex.org/W2968945909","https://openalex.org/W3005922959","https://openalex.org/W3011888914","https://openalex.org/W3015470607","https://openalex.org/W3044675897","https://openalex.org/W3119722460","https://openalex.org/W3126007350","https://openalex.org/W3131411499","https://openalex.org/W3147298213","https://openalex.org/W3172463270","https://openalex.org/W3183652554","https://openalex.org/W3186006973","https://openalex.org/W3186317065","https://openalex.org/W3186557207","https://openalex.org/W3203830790","https://openalex.org/W3206251036","https://openalex.org/W3209501773","https://openalex.org/W3216863766","https://openalex.org/W4226195072","https://openalex.org/W4226242368","https://openalex.org/W4285102592","https://openalex.org/W4294692105","https://openalex.org/W6745764106","https://openalex.org/W6803956994","https://openalex.org/W6841082445"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109","https://openalex.org/W2102947728"],"abstract_inverted_index":{"Developing":[0],"controllers":[1],"for":[2,13,48,81,103],"obstacle":[3,24,49,96,116],"avoidance":[4,25,50,97,117],"between":[5,51,75],"polytopes":[6,76],"is":[7,68,85],"a":[8,38,60,89,109,122],"challenging":[9],"and":[10,77],"necessary":[11],"problem":[12,26,67,126],"navigation":[14],"in":[15,57,108],"tight":[16,115],"spaces.":[17],"Traditional":[18],"approaches":[19],"can":[20,54],"only":[21],"formulate":[22],"the":[23,72,78,82,95,99],"as":[27],"an":[28],"offline":[29],"optimization":[30,62,66],"problem.":[31,63],"To":[32],"address":[33],"these":[34],"challenges,":[35],"we":[36],"propose":[37],"duality-based":[39],"safety-critical":[40],"optimal":[41],"control":[42,45,90],"using":[43],"nonsmooth":[44],"barrier":[46,91],"functions":[47],"polytopes,":[52],"which":[53],"be":[55],"solved":[56],"real-time":[58,114],"with":[59,98,118,127],"QP-based":[61],"A":[64],"dual":[65,83,101],"introduced":[69],"to":[70,87],"represent":[71],"minimum":[73],"distance":[74],"Lagrangian":[79],"function":[80],"form":[84],"applied":[86],"construct":[88],"function.":[92],"We":[93,112],"validate":[94],"proposed":[100],"formulation":[102],"L-shaped":[104],"(sofa-shaped)":[105],"controlled":[106],"robot":[107],"corridor":[110],"environment.":[111],"demonstrate":[113],"non-conservative":[119],"maneuvers":[120],"on":[121],"moving":[123],"sofa":[124],"(piano)":[125],"nonlinear":[128],"dynamics.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
