{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T09:18:24Z","timestamp":1760347104973,"version":"3.40.3"},"publisher-location":"Cham","reference-count":21,"publisher":"Springer Nature Switzerland","isbn-type":[{"type":"print","value":"9783031222153"},{"type":"electronic","value":"9783031222160"}],"license":[{"start":{"date-parts":[[2023,1,1]],"date-time":"2023-01-01T00:00:00Z","timestamp":1672531200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,1,1]],"date-time":"2023-01-01T00:00:00Z","timestamp":1672531200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023]]},"DOI":"10.1007\/978-3-031-22216-0_15","type":"book-chapter","created":{"date-parts":[[2023,1,17]],"date-time":"2023-01-17T04:39:26Z","timestamp":1673930366000},"page":"216-230","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["A Dynamics-Aware NMPC Method for\u00a0Robot Navigation Among Moving Obstacles"],"prefix":"10.1007","author":[{"given":"Spyridon G.","family":"Tarantos","sequence":"first","affiliation":[]},{"given":"Giuseppe","family":"Oriolo","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,1,18]]},"reference":[{"key":"15_CR1","doi-asserted-by":"publisher","first-page":"193","DOI":"10.2514\/2.4231","volume":"21","author":"J Betts","year":"1998","unstructured":"Betts, J.: Survey of numerical methods for trajectory optimization. J. Guidance Control Dyn. 21, 193\u2013207 (1998)","journal-title":"J. Guidance Control Dyn."},{"key":"15_CR2","doi-asserted-by":"crossref","unstructured":"Bonalli, R., Cauligi, A., Bylard, A., Pavone, M.: GuSTO: Guaranteed Sequential Trajectory optimization via Sequential Convex Programming. In: 2019 International Conference on Robotics and Automation, pp. 6741\u20136747 (2019)","DOI":"10.1109\/ICRA.2019.8794205"},{"key":"15_CR3","doi-asserted-by":"crossref","unstructured":"Buizza Avanzini, G., Zanchettin, A.M., Rocco, P.: Constrained model predictive control for mobile robotic manipulators. Robotica, 1\u201320 (2017)","DOI":"10.1017\/S0263574717000133"},{"key":"15_CR4","unstructured":"Choset, H., Lynch, K., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L., Thrun, S.: Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press (2005)"},{"key":"15_CR5","doi-asserted-by":"crossref","unstructured":"Damas, B., Santos-Victor, J.: Avoiding moving obstacles: the forbidden velocity map. In: 2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 4393\u20134398 (2009)","DOI":"10.1109\/IROS.2009.5354210"},{"issue":"4","key":"15_CR6","doi-asserted-by":"publisher","first-page":"577","DOI":"10.1016\/S0959-1524(01)00023-3","volume":"12","author":"M Diehl","year":"2002","unstructured":"Diehl, M., Bock, H., Schl\u00f6der, J.P., Findeisen, R., Nagy, Z., Allg\u00f6wer, F.: Real-time optimization and nonlinear model predictive control of processes governed by differential-algebraic equations. J. Process Control 12(4), 577\u2013585 (2002)","journal-title":"J. Process Control"},{"key":"15_CR7","doi-asserted-by":"crossref","unstructured":"Febbo, H., Jayakumar, P., Stein, J.L., Ersal, T.: Real-time trajectory planning for automated vehicle safety and performance in dynamic environments. J. Auton. Veh. Syst. 1(4) (2021)","DOI":"10.1115\/1.4053243"},{"issue":"7","key":"15_CR8","doi-asserted-by":"publisher","first-page":"760","DOI":"10.1177\/027836499801700706","volume":"17","author":"P Fiorini","year":"1998","unstructured":"Fiorini, P., Shiller, Z.: Motion planning in dynamic environments using velocity obstacles. Int. J. Rob. Res. 17(7), 760\u2013772 (1998)","journal-title":"Int. J. Rob. Res."},{"issue":"1","key":"15_CR9","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1109\/100.580977","volume":"4","author":"D Fox","year":"1997","unstructured":"Fox, D., Burgard, W., Thrun, S.: The dynamic window approach to collision avoidance. IEEE Rob. Autom. Mag. 4(1), 23\u201333 (1997)","journal-title":"IEEE Rob. Autom. Mag."},{"key":"15_CR10","doi-asserted-by":"crossref","unstructured":"Fraichard, T., Asama, H.: Inevitable collision states. a step towards safer robots? In: 2003 IEEE\/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 388\u2013393 (2003)","DOI":"10.1109\/IROS.2003.1250659"},{"key":"15_CR11","doi-asserted-by":"crossref","unstructured":"Frasch, J.V., Gray, A., Zanon, M., Ferreau, H.J., Sager, S., Borrelli, F., Diehl, M.: An auto-generated nonlinear MPC algorithm for real-time obstacle avoidance of ground vehicles. In: 2013 European Control Conference, pp. 4136\u20134141 (2013)","DOI":"10.23919\/ECC.2013.6669836"},{"key":"15_CR12","doi-asserted-by":"crossref","unstructured":"Gal, O., Shiller, Z., Rimon, E.: Efficient and safe on-line motion planning in dynamic environments. In: 2009 IEEE International Conference on Robotics and Automation, pp. 88\u201393 (2009)","DOI":"10.1109\/ROBOT.2009.5152330"},{"issue":"10","key":"15_CR13","doi-asserted-by":"publisher","first-page":"2279","DOI":"10.1016\/j.automatica.2011.08.020","volume":"47","author":"B Houska","year":"2011","unstructured":"Houska, B., Ferreau, H.J., Diehl, M.: An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range. Automatica 47(10), 2279\u20132285 (2011)","journal-title":"Automatica"},{"key":"15_CR14","doi-asserted-by":"crossref","unstructured":"Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. In: 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 500\u2013505 (1985)","DOI":"10.1109\/ROBOT.1985.1087247"},{"issue":"5","key":"15_CR15","doi-asserted-by":"publisher","first-page":"378","DOI":"10.1177\/02783640122067453","volume":"20","author":"SM LaValle","year":"2001","unstructured":"LaValle, S.M., James, J., Kuffner, J.: Randomized kinodynamic planning. Int. J. Rob. Res. 20(5), 378\u2013400 (2001)","journal-title":"Int. J. Rob. Res."},{"issue":"5","key":"15_CR16","doi-asserted-by":"publisher","first-page":"628","DOI":"10.1002\/oca.2123","volume":"36","author":"A Liniger","year":"2015","unstructured":"Liniger, A., Domahidi, A., Morari, M.: Optimization-based autonomous racing of 1:43 scale RC cars. Optimal Control Appl. Methods 36(5), 628\u2013647 (2015)","journal-title":"Optimal Control Appl. Methods"},{"key":"15_CR17","doi-asserted-by":"crossref","unstructured":"Petti, S., Fraichard, T.: Safe motion planning in dynamic environments. In: 2005 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2210\u20132215 (2005)","DOI":"10.1109\/IROS.2005.1545549"},{"key":"15_CR18","doi-asserted-by":"crossref","unstructured":"Sathya, A., Sopasakis, P., Van Parys, R., Themelis, A., Pipeleers, G., Patrinos, P.: Embedded nonlinear model predictive control for obstacle avoidance using PANOC. In: 2018 European Control Conference, pp. 1523\u20131528 (2018)","DOI":"10.23919\/ECC.2018.8550253"},{"key":"15_CR19","doi-asserted-by":"crossref","unstructured":"Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G.: Robotics: Modelling, Planning and Control. Springer (2009)","DOI":"10.1007\/978-1-84628-642-1"},{"issue":"2","key":"15_CR20","doi-asserted-by":"publisher","first-page":"882","DOI":"10.1109\/TASE.2015.2412256","volume":"13","author":"AM Zanchettin","year":"2016","unstructured":"Zanchettin, A.M., Ceriani, N.M., Rocco, P., Ding, H., Matthias, B.: Safety in human-robot collaborative manufacturing environments: metrics and control. IEEE Trans. Autom. Sci. Eng. 13(2), 882\u2013893 (2016)","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"15_CR21","doi-asserted-by":"crossref","unstructured":"Zhang, X., Liniger, A., Borrelli, F.: Optimization-based collision avoidance. ArXiv abs\/1711.03449 (2017)","DOI":"10.1109\/CDC.2018.8619433"}],"container-title":["Lecture Notes in Networks and Systems","Intelligent Autonomous Systems 17"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-031-22216-0_15","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,12]],"date-time":"2024-10-12T09:57:47Z","timestamp":1728727067000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-031-22216-0_15"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023]]},"ISBN":["9783031222153","9783031222160"],"references-count":21,"URL":"https:\/\/doi.org\/10.1007\/978-3-031-22216-0_15","relation":{},"ISSN":["2367-3370","2367-3389"],"issn-type":[{"type":"print","value":"2367-3370"},{"type":"electronic","value":"2367-3389"}],"subject":[],"published":{"date-parts":[[2023]]},"assertion":[{"value":"18 January 2023","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"IAS","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Intelligent Autonomous Systems","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Zagreb","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Croatia","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2022","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"13 June 2022","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"16 June 2022","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"17","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"ias2022","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/www.ias-17.org\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}