{"id":"https://openalex.org/W4402260558","doi":"https://doi.org/10.23919/acc60939.2024.10644338","title":"Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance","display_name":"Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance","publication_year":2024,"publication_date":"2024-07-10","ids":{"openalex":"https://openalex.org/W4402260558","doi":"https://doi.org/10.23919/acc60939.2024.10644338"},"language":"en","primary_location":{"id":"doi:10.23919/acc60939.2024.10644338","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc60939.2024.10644338","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5002541989","display_name":"Bhavya Giri Goswami","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156055","display_name":"Robert Bosch (Netherlands)","ror":"https://ror.org/057aydj06","country_code":"NL","type":"company","lineage":["https://openalex.org/I4210156055","https://openalex.org/I889804353"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Bhavya Giri Goswami","raw_affiliation_strings":["Indian Institute of Science (IISc),Robert Bosch Center for Cyber-Physical Systems (RBCCPS),Bengaluru"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Science (IISc),Robert Bosch Center for Cyber-Physical Systems (RBCCPS),Bengaluru","institution_ids":["https://openalex.org/I4210156055"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059362138","display_name":"Manan Tayal","orcid":null},"institutions":[{"id":"https://openalex.org/I4210156055","display_name":"Robert Bosch (Netherlands)","ror":"https://ror.org/057aydj06","country_code":"NL","type":"company","lineage":["https://openalex.org/I4210156055","https://openalex.org/I889804353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Manan Tayal","raw_affiliation_strings":["Indian Institute of Science (IISc),Robert Bosch Center for Cyber-Physical Systems (RBCCPS),Bengaluru"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Science (IISc),Robert Bosch Center for Cyber-Physical Systems (RBCCPS),Bengaluru","institution_ids":["https://openalex.org/I4210156055"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053599594","display_name":"Karthik Rajgopal","orcid":"https://orcid.org/0000-0001-7250-5743"},"institutions":[{"id":"https://openalex.org/I4210156055","display_name":"Robert Bosch (Netherlands)","ror":"https://ror.org/057aydj06","country_code":"NL","type":"company","lineage":["https://openalex.org/I4210156055","https://openalex.org/I889804353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Karthik Rajgopal","raw_affiliation_strings":["Indian Institute of Science (IISc),Robert Bosch Center for Cyber-Physical Systems (RBCCPS),Bengaluru"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Science (IISc),Robert Bosch Center for Cyber-Physical Systems (RBCCPS),Bengaluru","institution_ids":["https://openalex.org/I4210156055"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073867567","display_name":"Pushpak Jagtap","orcid":"https://orcid.org/0000-0002-5452-8850"},"institutions":[{"id":"https://openalex.org/I4210156055","display_name":"Robert Bosch (Netherlands)","ror":"https://ror.org/057aydj06","country_code":"NL","type":"company","lineage":["https://openalex.org/I4210156055","https://openalex.org/I889804353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Pushpak Jagtap","raw_affiliation_strings":["Indian Institute of Science (IISc),Robert Bosch Center for Cyber-Physical Systems (RBCCPS),Bengaluru"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Science (IISc),Robert Bosch Center for Cyber-Physical Systems (RBCCPS),Bengaluru","institution_ids":["https://openalex.org/I4210156055"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084523677","display_name":"Shishir Kolathaya","orcid":"https://orcid.org/0000-0001-8689-2318"},"institutions":[{"id":"https://openalex.org/I4210156055","display_name":"Robert Bosch (Netherlands)","ror":"https://ror.org/057aydj06","country_code":"NL","type":"company","lineage":["https://openalex.org/I4210156055","https://openalex.org/I889804353"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Shishir Kolathaya","raw_affiliation_strings":["Indian Institute of Science (IISc),Robert Bosch Center for Cyber-Physical Systems (RBCCPS),Bengaluru"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Science (IISc),Robert Bosch Center for Cyber-Physical Systems (RBCCPS),Bengaluru","institution_ids":["https://openalex.org/I4210156055"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5002541989"],"corresponding_institution_ids":["https://openalex.org/I4210156055"],"apc_list":null,"apc_paid":null,"fwci":1.8421,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.8676042,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"325","last_page":"331"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9977999925613403,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9972000122070312,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.8523191213607788},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7634272575378418},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7218747138977051},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5575300455093384},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5285752415657043},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5154393911361694},{"id":"https://openalex.org/keywords/cone","display_name":"Cone (formal languages)","score":0.46442925930023193},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41243356466293335},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.36938774585723877},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.325061559677124},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27017322182655334},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20252344012260437},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.195143461227417},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14543280005455017},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08369284868240356},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07183465361595154}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8523191213607788},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7634272575378418},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7218747138977051},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5575300455093384},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5285752415657043},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5154393911361694},{"id":"https://openalex.org/C30014739","wikidata":"https://www.wikidata.org/wiki/Q5159445","display_name":"Cone (formal languages)","level":2,"score":0.46442925930023193},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41243356466293335},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.36938774585723877},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.325061559677124},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27017322182655334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20252344012260437},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.195143461227417},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14543280005455017},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08369284868240356},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07183465361595154},{"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":1,"locations":[{"id":"doi:10.23919/acc60939.2024.10644338","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc60939.2024.10644338","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.550000011920929,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1580535863","https://openalex.org/W1968103386","https://openalex.org/W1968159474","https://openalex.org/W1980569135","https://openalex.org/W2002440441","https://openalex.org/W2124770562","https://openalex.org/W2136947569","https://openalex.org/W2332123745","https://openalex.org/W2489231587","https://openalex.org/W2560504659","https://openalex.org/W2589869525","https://openalex.org/W2616635592","https://openalex.org/W2962915496","https://openalex.org/W2964040381","https://openalex.org/W2968945909","https://openalex.org/W3011888914","https://openalex.org/W3012226486","https://openalex.org/W3035313359","https://openalex.org/W3094402048","https://openalex.org/W3129245057","https://openalex.org/W3153025913","https://openalex.org/W3165832045","https://openalex.org/W3168217419","https://openalex.org/W3168522732","https://openalex.org/W3175797397","https://openalex.org/W3183652554","https://openalex.org/W3186317065","https://openalex.org/W3186557207","https://openalex.org/W3194185973","https://openalex.org/W3195647294","https://openalex.org/W3209116984","https://openalex.org/W4226452773","https://openalex.org/W4392188956","https://openalex.org/W4392781636","https://openalex.org/W4402262118","https://openalex.org/W6745935785","https://openalex.org/W6796289692","https://openalex.org/W6798168041","https://openalex.org/W6861942631"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2023024008","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1911254468","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404"],"abstract_inverted_index":{"This":[0,125],"paper":[1],"introduces":[2],"an":[3],"experimental":[4,134],"platform":[5],"designed":[6],"for":[7,22,99],"the":[8,36,108,113,137],"validation":[9],"and":[10,53,133,143],"demonstration":[11],"of":[12,16,38],"a":[13,91,116],"novel":[14],"class":[15],"Control":[17],"Barrier":[18],"Functions":[19],"(CBFs)":[20],"tailored":[21],"Unmanned":[23],"Ground":[24],"Vehicles":[25],"(UGVs)":[26],"to":[27,50,118],"proactively":[28],"prevent":[29],"collisions":[30],"with":[31,46],"kinematic":[32],"obstacles":[33],"by":[34],"integrating":[35],"concept":[37],"collision":[39,84],"cones.":[40],"While":[41],"existing":[42],"CBF":[43,61],"formulations":[44],"excel":[45],"static":[47],"obstacles,":[48],"extensions":[49],"torque/acceleration-controlled":[51],"unicycle":[52],"bicycle":[54],"models":[55,67],"have":[56,68],"seen":[57],"limited":[58],"success.":[59],"Conventional":[60],"applications":[62],"in":[63,73,86],"such":[64,100],"nonholonomic":[65],"UGV":[66],"demonstrated":[69],"control":[70,77,126],"conservatism,":[71],"particularly":[72],"scenarios":[74],"where":[75],"steering/thrust":[76],"was":[78],"deemed":[79],"infeasible.":[80],"Drawing":[81],"inspiration":[82],"from":[83,112],"cones":[85],"path":[87],"planning,":[88],"we":[89],"present":[90],"pioneering":[92],"C3BF":[93],"formulation":[94],"ensuring":[95],"theoretical":[96],"safety":[97],"guarantees":[98],"models.":[101],"The":[102],"core":[103],"premise":[104],"revolves":[105],"around":[106],"aligning":[107],"obstacle's":[109],"velocity":[110],"away":[111],"vehicle,":[114],"establishing":[115],"constraint":[117],"perpetually":[119],"avoid":[120],"vectors":[121],"directed":[122],"towards":[123],"it.":[124],"methodology":[127],"is":[128],"rigorously":[129],"validated":[130],"through":[131],"simulations":[132],"verification":[135],"on":[136],"Copernicus":[138],"mobile":[139],"robot":[140],"(Unicycle":[141],"Model)":[142],"FOCAS-Car":[144],"(Bicycle":[145],"Model).":[146]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}