{"id":"https://openalex.org/W4286306567","doi":"https://doi.org/10.23919/ascc56756.2022.9828209","title":"Fast Source Seeking with Obstacle Avoidance via Extremum Seeking Control","display_name":"Fast Source Seeking with Obstacle Avoidance via Extremum Seeking Control","publication_year":2022,"publication_date":"2022-05-04","ids":{"openalex":"https://openalex.org/W4286306567","doi":"https://doi.org/10.23919/ascc56756.2022.9828209"},"language":"en","primary_location":{"id":"doi:10.23919/ascc56756.2022.9828209","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ascc56756.2022.9828209","pdf_url":null,"source":{"id":"https://openalex.org/S4363607827","display_name":"2022 13th Asian Control Conference (ASCC)","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 13th Asian Control Conference (ASCC)","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/A5100566725","display_name":"Tianlai Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tianlai Xu","raw_affiliation_strings":["Harbin Institute of Technology,School of Astronautics,Harbin,China","School of Astronautics, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,School of Astronautics,Harbin,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067992824","display_name":"Guodong Chen","orcid":"https://orcid.org/0000-0002-4835-708X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guodong Chen","raw_affiliation_strings":["Harbin Institute of Technology,School of Astronautics,Harbin,China","School of Astronautics, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,School of Astronautics,Harbin,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101917822","display_name":"Guoqing Zhou","orcid":"https://orcid.org/0000-0003-3336-708X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoqing Zhou","raw_affiliation_strings":["Harbin Institute of Technology,School of Astronautics,Harbin,China","School of Astronautics, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,School of Astronautics,Harbin,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114246468","display_name":"Ziang Liu","orcid":"https://orcid.org/0009-0006-5101-0024"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziang Liu","raw_affiliation_strings":["Harbin Institute of Technology,School of Astronautics,Harbin,China","School of Astronautics, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,School of Astronautics,Harbin,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029286316","display_name":"Zexu Zhang","orcid":"https://orcid.org/0000-0003-1702-0385"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zexu Zhang","raw_affiliation_strings":["Harbin Institute of Technology,School of Astronautics,Harbin,China","School of Astronautics, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,School of Astronautics,Harbin,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042529535","display_name":"Shuai Yuan","orcid":"https://orcid.org/0000-0002-4026-6597"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Yuan","raw_affiliation_strings":["Harbin Institute of Technology,School of Astronautics,Harbin,China","School of Astronautics, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,School of Astronautics,Harbin,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100566725"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":2.4763,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.90647118,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2097","last_page":"2102"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":1.0,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9496999979019165,"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/T10806","display_name":"Energetic Materials and Combustion","score":0.9298999905586243,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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":0.7425145506858826},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7404352426528931},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6491321325302124},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5909216403961182},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5733746886253357},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.572787880897522},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5192851424217224},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4190864562988281},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4136471450328827},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3267231583595276},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3262683153152466},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25317931175231934},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.1856972873210907},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17406097054481506},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14185011386871338},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11868730187416077},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0691869854927063}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7425145506858826},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7404352426528931},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6491321325302124},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5909216403961182},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5733746886253357},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.572787880897522},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5192851424217224},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4190864562988281},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4136471450328827},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3267231583595276},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3262683153152466},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25317931175231934},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.1856972873210907},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17406097054481506},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14185011386871338},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11868730187416077},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0691869854927063},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/ascc56756.2022.9828209","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ascc56756.2022.9828209","pdf_url":null,"source":{"id":"https://openalex.org/S4363607827","display_name":"2022 13th Asian Control Conference (ASCC)","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 13th Asian Control Conference (ASCC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320330944","display_name":"Nature","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W2019120678","https://openalex.org/W2054930183","https://openalex.org/W2074085128","https://openalex.org/W2076738229","https://openalex.org/W2095062552","https://openalex.org/W2097133442","https://openalex.org/W2110144538","https://openalex.org/W2123924157","https://openalex.org/W2133651102","https://openalex.org/W2151774769","https://openalex.org/W2166003201","https://openalex.org/W2168865862","https://openalex.org/W2342569072","https://openalex.org/W2462208536","https://openalex.org/W2564917587","https://openalex.org/W2578812632","https://openalex.org/W2962788405","https://openalex.org/W3037468213","https://openalex.org/W3186578514","https://openalex.org/W6631300751","https://openalex.org/W6638967683"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2906946336","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2938416672","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2146611987"],"abstract_inverted_index":{"Navigation":[0],"tasks":[1],"often":[2],"need":[3],"explicit":[4],"unknown":[5,67],"information.":[6],"However,":[7],"when":[8],"the":[9,15,33,48,56,70,73,78,83,117,120,123,171],"positioning":[10],"information":[11],"is":[12,18,52,75,85,107,113,125],"unavailable":[13],"and":[14,37,47,77,92,109,119,142,145],"target":[16],"location":[17],"unknown,":[19],"this":[20,31],"task":[21,59],"can":[22,163],"be":[23],"transformed":[24],"into":[25,43],"a":[26,44,61,97,165],"source":[27,34,57,89,99,153],"seeking":[28,51,58,106,138,151,154,162],"problem.":[29],"In":[30],"paper,":[32],"potential":[35,39,90,94],"field":[36,40,91],"artificial":[38,93],"are":[41],"combined":[42],"navigation":[45,80,157,167],"function,":[46],"normalized":[49,104,136,160],"extremum":[50,105,137,150,161],"used":[53,114],"to":[54,115],"realize":[55],"of":[60,72,82,122],"unicycle":[62,74,84,98],"with":[63,173],"convex":[64],"obstacles":[65],"in":[66,170],"environment.":[68],"Firstly,":[69],"kinematics":[71],"modeled,":[76],"Rimon-Koditschek":[79],"function":[81,158],"established":[86],"by":[87,127],"combining":[88],"field.":[95],"Then":[96],"finding":[100],"system":[101,112,124],"based":[102],"on":[103],"built":[108],"Lie":[110],"bracket":[111],"approximate":[116],"system,":[118],"stability":[121,129],"proved":[126],"Lyapunov":[128],"criterion.":[130],"Finally,":[131],"simulation":[132],"results":[133],"show":[134],"that":[135],"has":[139],"better":[140,143],"robustness":[141],"transient":[144],"steady-state":[146],"performance":[147],"than":[148],"general":[149],"for":[152],"system.":[155],"The":[156],"using":[159],"generate":[164],"collision-free":[166],"trajectory":[168],"faster":[169],"environment":[172],"obstacles.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}