{"id":"https://openalex.org/W4400946151","doi":"https://doi.org/10.23919/ecc64448.2024.10590765","title":"Body-aware Local Navigation for Asymmetric Holonomic Robots using Control Barrier Functions","display_name":"Body-aware Local Navigation for Asymmetric Holonomic Robots using Control Barrier Functions","publication_year":2024,"publication_date":"2024-06-25","ids":{"openalex":"https://openalex.org/W4400946151","doi":"https://doi.org/10.23919/ecc64448.2024.10590765"},"language":"en","primary_location":{"id":"doi:10.23919/ecc64448.2024.10590765","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/ecc64448.2024.10590765","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 European Control Conference (ECC)","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/A5064098651","display_name":"Akshit Saradagi","orcid":"https://orcid.org/0000-0003-3794-0306"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Akshit Saradagi","raw_affiliation_strings":["Lule&#x00E5; University of Technology,Robotics and AI Group,Department of Computer Science, Electrical and Space Engineering,Sweden"],"affiliations":[{"raw_affiliation_string":"Lule&#x00E5; University of Technology,Robotics and AI Group,Department of Computer Science, Electrical and Space Engineering,Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091932341","display_name":"Scott Fredriksson","orcid":"https://orcid.org/0009-0004-0889-8780"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Scott Fredriksson","raw_affiliation_strings":["Lule&#x00E5; University of Technology,Robotics and AI Group,Department of Computer Science, Electrical and Space Engineering,Sweden"],"affiliations":[{"raw_affiliation_string":"Lule&#x00E5; University of Technology,Robotics and AI Group,Department of Computer Science, Electrical and Space Engineering,Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058420833","display_name":"Anton Koval","orcid":"https://orcid.org/0000-0001-8235-2728"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Anton Koval","raw_affiliation_strings":["Lule&#x00E5; University of Technology,Robotics and AI Group,Department of Computer Science, Electrical and Space Engineering,Sweden"],"affiliations":[{"raw_affiliation_string":"Lule&#x00E5; University of Technology,Robotics and AI Group,Department of Computer Science, Electrical and Space Engineering,Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032260126","display_name":"George Nikolakopoulos","orcid":null},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"George Nikolakopoulos","raw_affiliation_strings":["Lule&#x00E5; University of Technology,Robotics and AI Group,Department of Computer Science, Electrical and Space Engineering,Sweden"],"affiliations":[{"raw_affiliation_string":"Lule&#x00E5; University of Technology,Robotics and AI Group,Department of Computer Science, Electrical and Space Engineering,Sweden","institution_ids":["https://openalex.org/I190632392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5064098651"],"corresponding_institution_ids":["https://openalex.org/I190632392"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10819362,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"968","last_page":"973"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9943000078201294,"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/holonomic","display_name":"Holonomic","score":0.8962064385414124},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6986272931098938},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5922258496284485},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5613164901733398},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4731524884700775},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.42694494128227234},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4123057723045349},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2727915942668915}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.8962064385414124},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6986272931098938},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5922258496284485},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5613164901733398},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4731524884700775},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.42694494128227234},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4123057723045349},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2727915942668915}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc64448.2024.10590765","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/ecc64448.2024.10590765","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W33944366","https://openalex.org/W1975492090","https://openalex.org/W2040680062","https://openalex.org/W2084474153","https://openalex.org/W2087627746","https://openalex.org/W2092507038","https://openalex.org/W2748782221","https://openalex.org/W2968945909","https://openalex.org/W3136225517","https://openalex.org/W4295063277","https://openalex.org/W4311773321","https://openalex.org/W4314947443","https://openalex.org/W6601367249"],"related_works":["https://openalex.org/W2156868854","https://openalex.org/W2131454054","https://openalex.org/W4244593870","https://openalex.org/W2122871747","https://openalex.org/W2109445039","https://openalex.org/W3114279067","https://openalex.org/W2801643600","https://openalex.org/W4385059443","https://openalex.org/W4383611656","https://openalex.org/W2171912896"],"abstract_inverted_index":{"In":[0,23,104],"this":[1,57],"article,":[2],"we":[3],"propose":[4],"a":[5,26,60,108,115,139,152,160,192,213,217],"body-aware":[6],"local":[7,203],"navigation":[8,16,204],"strategy":[9,68],"for":[10,14,138],"asymmetric":[11,31,220],"holonomic":[12,187],"robots":[13],"collision-free":[15,75,223],"in":[17,56,87,191,209,212],"narrow":[18],"pathways":[19,41],"with":[20,28,43,219],"sharp":[21,78,116,227],"turns.":[22,79],"such":[24],"scenarios,":[25],"robot":[27,120,188,218],"non-circular":[29],"or":[30,49],"footprint":[32,121,221],"that":[33,69,113,130,150,163],"is":[34,54,83,148],"comparable":[35],"to":[36,89,124],"the":[37,40,71,105,119,165,171,177,186,196,231],"dimension":[38],"of":[39,73,111,136,185],"collides":[42],"walls":[44],"when":[45],"tracking":[46],"Voronoi":[47],"paths":[48],"risk-aware":[50],"paths.":[51],"This":[52],"problem":[53],"addressed":[55],"article":[58],"through":[59],"novel":[61],"multi-control":[62],"barrier":[63,128,167,199],"functions":[64,129],"(CBF)":[65],"based":[66,91,99,144],"control":[67,95,127,155,166,183,198],"achieves":[70,222],"objective":[72],"safe":[74,132,172],"maneuvering":[76,224],"at":[77],"The":[80,180,201],"proposed":[81,106,202],"method":[82],"significantly":[84],"computationally":[85],"light":[86],"comparison":[88],"approaches":[90],"on":[92],"model":[93],"predictive":[94],"and":[96,101,118,133,158,169,233],"online":[97],"occupancy-grid":[98],"free-space":[100],"collision":[102],"detection.":[103],"approach,":[107],"minimal":[109],"set":[110,173],"parameters":[112],"characterize":[114],"turn":[117],"are":[122,189],"used":[123],"define":[125,131],"six":[126,197],"unsafe":[134],"regions":[135],"operation":[137],"robot.":[140],"A":[141],"quadratic":[142],"programming":[143],"CBF":[145],"safety":[146,232],"filter":[147],"designed":[149],"takes":[151],"nominal":[153],"goal-reaching":[154],"as":[156],"input":[157],"returns":[159],"minimally-deviating":[161],"output":[162],"enforces":[164],"constraints":[168],"renders":[170],"forward":[174],"invariant":[175],"throughout":[176],"turning":[178],"maneuver.":[179],"three":[181],"kinematic":[182],"inputs":[184],"shared":[190],"conflict-free":[193],"manner":[194],"among":[195],"constraints.":[200,235],"approach":[205],"was":[206],"thoroughly":[207],"validated":[208],"multiple":[210,226],"scenarios":[211],"simulated":[214],"environment,":[215],"where":[216],"along":[225],"turns,":[228],"while":[229],"respecting":[230],"actuation":[234]},"counts_by_year":[],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
