{"id":"https://openalex.org/W4413393623","doi":"https://doi.org/10.23919/acc63710.2025.11107456","title":"Density Functions for Dynamic Safe Navigation of Robotic Systems","display_name":"Density Functions for Dynamic Safe Navigation of Robotic Systems","publication_year":2025,"publication_date":"2025-07-08","ids":{"openalex":"https://openalex.org/W4413393623","doi":"https://doi.org/10.23919/acc63710.2025.11107456"},"language":"en","primary_location":{"id":"doi:10.23919/acc63710.2025.11107456","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107456","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5001493134","display_name":"Sriram S.K.S Narayanan","orcid":"https://orcid.org/0000-0002-3163-9275"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sriram S.K.S Narayanan","raw_affiliation_strings":["Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29630"],"affiliations":[{"raw_affiliation_string":"Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29630","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030308532","display_name":"Joseph Moyalan","orcid":"https://orcid.org/0000-0002-0847-365X"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph Moyalan","raw_affiliation_strings":["Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29630"],"affiliations":[{"raw_affiliation_string":"Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29630","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101662002","display_name":"Andrew Zheng","orcid":"https://orcid.org/0009-0000-3201-4456"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Zheng","raw_affiliation_strings":["Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29630"],"affiliations":[{"raw_affiliation_string":"Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29630","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050749492","display_name":"Umesh Vaidya","orcid":"https://orcid.org/0000-0002-0483-4921"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Umesh Vaidya","raw_affiliation_strings":["Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29630"],"affiliations":[{"raw_affiliation_string":"Clemson University,Department of Mechanical Engineering,Clemson,SC,USA,29630","institution_ids":["https://openalex.org/I8078737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5001493134"],"corresponding_institution_ids":["https://openalex.org/I8078737"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26029131,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3694","last_page":"3699"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.949999988079071,"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":0.949999988079071,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6052963137626648},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38361403346061707}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6052963137626648},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38361403346061707}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc63710.2025.11107456","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107456","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.5600000023841858,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1517266616","https://openalex.org/W1608481154","https://openalex.org/W2045938917","https://openalex.org/W2103120971","https://openalex.org/W2108643443","https://openalex.org/W2110006698","https://openalex.org/W2110144538","https://openalex.org/W2130461596","https://openalex.org/W2598292896","https://openalex.org/W2891392570","https://openalex.org/W2898506204","https://openalex.org/W3045782545","https://openalex.org/W3104753760","https://openalex.org/W3205275030","https://openalex.org/W3209011077","https://openalex.org/W4206409588","https://openalex.org/W4247733519","https://openalex.org/W4360995308","https://openalex.org/W4386432177","https://openalex.org/W4389987422"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,38,75,90,94],"novel":[4],"density":[5,23],"function-based":[6],"approach":[7,63],"for":[8],"safe":[9,31,39,72],"navigation":[10,73],"in":[11,78],"dynamic":[12,30],"environments":[13],"with":[14],"time-varying":[15,22,82,95],"obstacles":[16,83],"and":[17,46,84],"targets.":[18],"We":[19],"analytically":[20],"construct":[21],"functions":[24],"to":[25,48],"tackle":[26],"the":[27,49,71,79],"challenges":[28],"of":[29,61,74,81],"navigation.":[32],"Leveraging":[33],"this":[34],"framework,":[35],"we":[36],"develop":[37],"feedback":[40],"controller":[41],"that":[42],"guarantees":[43],"both":[44],"safety":[45],"convergence":[47],"target":[50,96],"from":[51],"almost":[52],"all":[53],"initial":[54],"conditions":[55],"w.r.t":[56],"Lebesgue":[57],"measure.":[58],"The":[59],"effectiveness":[60],"our":[62],"is":[64],"demonstrated":[65],"on":[66],"complex":[67],"robotic":[68,91],"systems,":[69],"including":[70],"quadruped":[76],"robot":[77],"presence":[80],"sensor":[85],"uncertainty,":[86],"as":[87,89],"well":[88],"arm":[92],"tracking":[93],"amidst":[97],"static":[98],"obstacles.":[99]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}