乐胖代购免代理版

{"id":"https://openalex.org/W4200212576","doi":"https://doi.org/10.1109/iros51168.2021.9636485","title":"Trust your supervisor: quadrotor obstacle avoidance using controlled invariant sets","display_name":"Trust your supervisor: quadrotor obstacle avoidance using controlled invariant sets","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200212576","doi":"https://doi.org/10.1109/iros51168.2021.9636485"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636485","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":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":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5024979723","display_name":"Luigi Pannocchi","orcid":"https://orcid.org/0000-0002-6250-4939"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"funder","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luigi Pannocchi","raw_affiliation_strings":["University of California, Los Angeles"],"affiliations":[{"raw_affiliation_string":"University of California, Los Angeles","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066244515","display_name":"Tzanis Anevlavis","orcid":"https://orcid.org/0000-0002-9541-1720"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"funder","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tzanis Anevlavis","raw_affiliation_strings":["University of California, Los Angeles"],"affiliations":[{"raw_affiliation_string":"University of California, Los Angeles","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047674203","display_name":"Paulo Tabuada","orcid":"https://orcid.org/0000-0002-3417-0951"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"funder","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paulo Tabuada","raw_affiliation_strings":["University of California, Los Angeles"],"affiliations":[{"raw_affiliation_string":"University of California, Los Angeles","institution_ids":["https://openalex.org/I161318765"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.64,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.593061,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":66,"max":71},"biblio":{"volume":null,"issue":null,"first_page":"9219","last_page":"9224"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9985,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9985,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965,"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9828,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.81579196},{"id":"https://openalex.org/keywords/supervisor","display_name":"Supervisor","score":0.79029965},{"id":"https://openalex.org/keywords/forcing","display_name":"Forcing (mathematics)","score":0.58993256}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.81579196},{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.79029965},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.759384},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7206836},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.71644163},{"id":"https://openalex.org/C197115733","wikidata":"https://www.wikidata.org/wiki/Q1003136","display_name":"Forcing (mathematics)","level":2,"score":0.58993256},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.55619854},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.52364826},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5172575},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.50602573},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4277779},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41198966},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3632332},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29832286},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25047374},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20632222},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1532008},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0934107},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.069633365},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636485","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":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":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, justice, and strong institutions"}],"grants":[{"funder":"https://openalex.org/F4320306087","funder_display_name":"Semiconductor Research Corporation","award_id":null}],"datasets":[],"versions":[],"referenced_works_count":13,"referenced_works":["https://openalex.org/W1704276703","https://openalex.org/W2008277209","https://openalex.org/W2057133391","https://openalex.org/W2081326455","https://openalex.org/W2096282629","https://openalex.org/W2160781031","https://openalex.org/W2893111372","https://openalex.org/W2963207386","https://openalex.org/W3011436318","https://openalex.org/W3023992346","https://openalex.org/W3186524353","https://openalex.org/W4250589301","https://openalex.org/W94433250"],"related_works":["https://openalex.org/W4391249562","https://openalex.org/W4253519380","https://openalex.org/W3043170174","https://openalex.org/W2930076404","https://openalex.org/W2782776446","https://openalex.org/W2596413128","https://openalex.org/W2357323510","https://openalex.org/W2356867392","https://openalex.org/W2155948905","https://openalex.org/W2071957557"],"abstract_inverted_index":{"Supervision":[0],"of":[1,29,46,60,89,103],"a":[2,23,27,38,67,113],"nominal":[3],"controller,":[4],"to":[5,21,65,97],"enforce":[6],"safety,":[7],"is":[8,37,84],"concerned":[9],"with":[10],"appropriately":[11],"modifying":[12],"the":[13,44,58,72,87,95,104],"generated":[14],"control":[15,24],"inputs,":[16],"if":[17],"needed,":[18],"in":[19,35,43],"order":[20],"keep":[22],"system":[25],"within":[26,99],"set":[28,41,45],"safe":[30,47],"states.":[31,48],"An":[32],"integral":[33],"component":[34],"supervision":[36,68],"controlled":[39,62,100],"invariant":[40,63,101],"contained":[42],"In":[49],"this":[50],"paper,":[51],"we":[52],"build":[53],"on":[54,57,86,112],"recent":[55],"results":[56,108],"computation":[59],"polytopic":[61],"sets":[64,102],"present":[66],"framework":[69,83],"that":[70],"computes":[71],"corrected":[73],"inputs":[74],"analytically":[75],"and,":[76],"hence,":[77],"suitable":[78],"for":[79],"real-time":[80],"control.":[81],"The":[82,107],"validated":[85],"task":[88],"quadrotor":[90],"obstacle":[91],"avoidance":[92],"by":[93],"forcing":[94],"vehicle":[96],"navigate":[98],"obstacle-free":[105],"space.":[106],"are":[109],"experimentally":[110],"demonstrated":[111],"Crazyflie":[114],"2.0":[115],"quadrotor.":[116]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4200212576","counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-04-20T15:57:20.575758","created_date":"2021-12-31"}