{"id":"https://openalex.org/W4382930608","doi":"https://doi.org/10.23919/acc55779.2023.10156498","title":"An Obstacle-Avoidance Receding Horizon Control Scheme for Constrained Differential-Drive Robot via Dynamic Feedback Linearization","display_name":"An Obstacle-Avoidance Receding Horizon Control Scheme for Constrained Differential-Drive Robot via Dynamic Feedback Linearization","publication_year":2023,"publication_date":"2023-05-31","ids":{"openalex":"https://openalex.org/W4382930608","doi":"https://doi.org/10.23919/acc55779.2023.10156498"},"language":"en","primary_location":{"id":"doi:10.23919/acc55779.2023.10156498","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10156498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5050893049","display_name":"Cristian Tiriolo","orcid":"https://orcid.org/0000-0002-9349-151X"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Cristian Tiriolo","raw_affiliation_strings":["Concordia University,Concordia Institute for Information Systems Engineering (CIISE),Montreal,QC,Canada,H3G-1M8"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Concordia University,Concordia Institute for Information Systems Engineering (CIISE),Montreal,QC,Canada,H3G-1M8","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042242478","display_name":"Giuseppe Franz\u00e8","orcid":"https://orcid.org/0000-0002-6712-9066"},"institutions":[{"id":"https://openalex.org/I45204951","display_name":"University of Calabria","ror":"https://ror.org/02rc97e94","country_code":"IT","type":"education","lineage":["https://openalex.org/I45204951"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Franz\u00e8","raw_affiliation_strings":["University of Calabria,Energy Engineering and Management (DIMEG),Department of Mechanical Engineering,Rende (CS),Italy,87036"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Calabria,Energy Engineering and Management (DIMEG),Department of Mechanical Engineering,Rende (CS),Italy,87036","institution_ids":["https://openalex.org/I45204951"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084252716","display_name":"Walter L\u00facia","orcid":"https://orcid.org/0000-0003-3776-8331"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Walter Lucia","raw_affiliation_strings":["Concordia University,Concordia Institute for Information Systems Engineering (CIISE),Montreal,QC,Canada,H3G-1M8"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Concordia University,Concordia Institute for Information Systems Engineering (CIISE),Montreal,QC,Canada,H3G-1M8","institution_ids":["https://openalex.org/I60158472"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3641,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.65011221,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1116","last_page":"1121"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9977999925613403,"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":0.8001497983932495},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6109092235565186},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5984687209129333},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.5547234416007996},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5507920980453491},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5095136761665344},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4390217065811157},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4358220398426056},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43462932109832764},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3847288489341736},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.342197060585022},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26188910007476807},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18928784132003784},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.155011385679245},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12019592523574829}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8001497983932495},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6109092235565186},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5984687209129333},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.5547234416007996},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5507920980453491},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5095136761665344},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4390217065811157},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4358220398426056},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43462932109832764},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3847288489341736},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.342197060585022},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26188910007476807},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18928784132003784},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.155011385679245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12019592523574829},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc55779.2023.10156498","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10156498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W153294671","https://openalex.org/W1424654272","https://openalex.org/W1484387568","https://openalex.org/W1573759704","https://openalex.org/W1714221804","https://openalex.org/W1976410223","https://openalex.org/W2018280292","https://openalex.org/W2048740246","https://openalex.org/W2110746476","https://openalex.org/W2122561468","https://openalex.org/W2127617835","https://openalex.org/W2203313098","https://openalex.org/W2290877012","https://openalex.org/W2379858873","https://openalex.org/W2598136971","https://openalex.org/W2789409369","https://openalex.org/W2792491297","https://openalex.org/W3090715944","https://openalex.org/W3109220298","https://openalex.org/W3136568468","https://openalex.org/W3194185973","https://openalex.org/W4200386160","https://openalex.org/W6637651499","https://openalex.org/W6687918259"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2906946336","https://openalex.org/W2991662304","https://openalex.org/W3119736302","https://openalex.org/W2794689129","https://openalex.org/W2785353696"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,32,64,70,92,116,130,135],"collision":[4],"avoidance":[5],"control":[6,43,73],"strategy":[7,44,74],"for":[8,45],"constrained":[9,42],"differential-drive":[10,131],"robots":[11],"moving":[12],"in":[13,134],"static":[14],"but":[15],"unknown":[16],"obstacle":[17,137],"scenarios.":[18],"We":[19],"assume":[20],"that":[21],"the":[22,57,88,109,120,143,146],"robot":[23,59,132],"is":[24,61,75,95,112],"equipped":[25],"with":[26,79],"an":[27,40],"on-board":[28],"path":[29],"planner":[30],"providing":[31],"sequence":[33],"of":[34,48,105,119,145],"obstacle-free":[35],"waypoints,":[36],"and":[37,50,82,103,123],"we":[38],"design":[39],"ad-hoc":[41],"ensuring":[46],"absence":[47,104],"collisions":[49],"velocity":[51],"constraints":[52,90,122],"fulfillment.":[53],"To":[54],"this":[55],"end,":[56],"nonlinear":[58],"kinematics":[60],"redefined":[62],"via":[63],"dynamic":[65],"feedback":[66],"linearization":[67],"procedure,":[68],"while":[69],"receding":[71],"horizon":[72],"tailored":[76],"to":[77,98,141],"deal":[78],"time-varying":[80],"state":[81],"input":[83,121],"constraints.":[84],"First,":[85],"by":[86],"considering":[87],"worst-case":[89],"realization,":[91],"conservative":[93],"solution":[94],"offline":[96],"determined":[97],"guarantee":[99],"stability,":[100],"recursive":[101],"feasibility,":[102],"collisions.":[106],"Then,":[107],"online,":[108],"tracking":[110],"performance":[111],"significantly":[113],"improved":[114],"leveraging":[115],"non-conservative":[117],"representation":[118],"set-theoretical":[124],"containment":[125],"conditions.":[126],"Simulation":[127],"results":[128],"involving":[129],"operating":[133],"maze-like":[136],"scenario":[138],"are":[139],"presented":[140],"show":[142],"effectiveness":[144],"proposed":[147],"solution.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
