{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T04:24:02Z","timestamp":1771475042959,"version":"3.50.1"},"publisher-location":"Cham","reference-count":32,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783319165943","type":"print"},{"value":"9783319165950","type":"electronic"}],"license":[{"start":{"date-parts":[[2015,1,1]],"date-time":"2015-01-01T00:00:00Z","timestamp":1420070400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2015,1,1]],"date-time":"2015-01-01T00:00:00Z","timestamp":1420070400000},"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":[[2015]]},"DOI":"10.1007\/978-3-319-16595-0_5","type":"book-chapter","created":{"date-parts":[[2015,4,29]],"date-time":"2015-04-29T13:42:10Z","timestamp":1430314930000},"page":"73-89","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Aggressive Moving Obstacle Avoidance Using a Stochastic Reachable Set Based Potential Field"],"prefix":"10.1007","author":[{"given":"Hao-Tien","family":"Chiang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nick","family":"Malone","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kendra","family":"Lesser","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Meeko","family":"Oishi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lydia","family":"Tapia","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2015,4,30]]},"reference":[{"issue":"5","key":"5_CR1","doi-asserted-by":"publisher","first-page":"615","DOI":"10.1109\/70.880813","volume":"16","author":"SS Ge","year":"2000","unstructured":"Ge, S.S., Cui, Y.J.: New potential functions for mobile robot path planning. IEEE Trans. Robot. Autom. 16(5), 615\u2013620 (2000)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"1","key":"5_CR2","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1504\/IJAAC.2011.037377","volume":"5","author":"O Cetin","year":"2011","unstructured":"Cetin, O., Kurnaz, S., Kaynak, O., Temeltas, H.: Potential field-based navigation task for autonomous flight control of unmanned aerial vehicles. Int. J. Autom. Control 5(1), 1\u201321 (2011)","journal-title":"Int. J. Autom. Control"},{"key":"5_CR3","doi-asserted-by":"crossref","unstructured":"Khuswendi, T., Hindersah, H., Adiprawita, W.: UAV path planning using potential field and modified receding horizon a* 3d algorithm. In: International Conference on Electrical Engineering and Informatics (ICEEI), pp. 1\u20136 (2011)","DOI":"10.1109\/ICEEI.2011.6021579"},{"issue":"1","key":"5_CR4","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1109\/TRO.2010.2076851","volume":"27","author":"CP Lam","year":"2011","unstructured":"Lam, C.P., Chou, C.T., Chiang, K.H., Fu, L.C.: Human-centered robot navigation towards a harmoniously human-robot coexisting environment. IEEE Trans. Robot. 27(1), 99\u2013112 (2011)","journal-title":"IEEE Trans. Robot."},{"issue":"18","key":"5_CR5","doi-asserted-by":"publisher","first-page":"2145","DOI":"10.1080\/01691864.2012.703301","volume":"26","author":"HC Lee","year":"2012","unstructured":"Lee, H.C., Yaniss, T., Lee, B.H.: Grafting: a path replanning technique for rapidly-exploring random trees in dynamic environments. Adv. Robot. 26(18), 2145\u20132168 (2012)","journal-title":"Adv. Robot."},{"key":"5_CR6","doi-asserted-by":"crossref","unstructured":"Narayanan, V., Phillips, M., Likhachev, M.: Anytime safe interval path planning for dynamic environments. In: Proceedings of IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 4708\u20134715 (2012)","DOI":"10.1109\/IROS.2012.6386191"},{"key":"5_CR7","doi-asserted-by":"crossref","unstructured":"Malone, N., Lesser, K., Oishi, M., Tapia, L.: Stochastic reachability based motion planning for multiple moving obstacle avoidance. In: Hybrid Systems: Computation and Control, HSCC, pp. 51\u201360 (2014)","DOI":"10.1145\/2562059.2562127"},{"key":"5_CR8","unstructured":"Van Den Berg, J., Ferguson, D., Kuffner, J.: Anytime path planning and replanning in dynamic environments. In: Proceedings IEEE International Conference on Robotics and Automation (ICRA), pp. 2366\u20132371 (2006)"},{"key":"5_CR9","doi-asserted-by":"crossref","unstructured":"Rodriguez, S., Lien, J.M., Amato, N.M.: A framework for planning motion in environments with moving obstacles. In: Proceedings IEEE International Conference on Intelligent Robots and Systems (IROS) (2007)","DOI":"10.1109\/IROS.2007.4399540"},{"key":"5_CR10","unstructured":"Jaillet, L., Simeon, T.: A PRM-based motion planner for dynamically changing environments. In: Proceedings of IEEE International Conference on Intelligent Robots and Systems (IROS) (2004)"},{"key":"5_CR11","unstructured":"Al-Hmouz, R., Gulrez, T., Al-Jumaily, A.: Probabilistic road maps with obstacle avoidance in cluttered dynamic environment. In: IEEE Intelligent Sensors, Sensor Networks and Information Processing Conference, pp. 241\u2013245 (2004)"},{"key":"5_CR12","doi-asserted-by":"crossref","unstructured":"Bohlin, R., Kavraki, L.E.: Path planning using Lazy PRM. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. 521\u2013528 (2000)","DOI":"10.1109\/ROBOT.2000.844107"},{"issue":"1","key":"5_CR13","doi-asserted-by":"publisher","first-page":"90","DOI":"10.1177\/027836498600500106","volume":"5","author":"O Khatib","year":"1986","unstructured":"Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. Int. J. Robot. Res. 5(1), 90\u201398 (1986)","journal-title":"Int. J. Robot. Res."},{"issue":"5","key":"5_CR14","doi-asserted-by":"publisher","first-page":"485","DOI":"10.1177\/0278364909359210","volume":"29","author":"D Dolgov","year":"2010","unstructured":"Dolgov, D., Thrun, S., Montemerlo, M., Diebel, J.: Path planning for autonomous vehicles in unknown semi-structured environments. Int. J. Robot. Res. 29(5), 485\u2013501 (2010)","journal-title":"Int. J. Robot. Res."},{"key":"5_CR15","doi-asserted-by":"publisher","first-page":"2724","DOI":"10.1016\/j.automatica.2008.03.027","volume":"44","author":"A Abate","year":"2008","unstructured":"Abate, A., Prandini, M., Lygeros, J., Sastry, S.: Probabilistic reachability and safety for controlled discrete time stochastic hybrid systems. Automatica 44, 2724\u20132734 (2008)","journal-title":"Automatica"},{"key":"5_CR16","doi-asserted-by":"crossref","unstructured":"Summers, S., Kamgarpour, M., Lygeros, J., Tomlin, C.: A stochastic reach-avoid problem with random obstacles. In: Proceedings of International Conference Hybrid Systems: Computation and Control (HSCC), pp. 251\u2013260 (2011)","DOI":"10.1145\/1967701.1967738"},{"key":"5_CR17","doi-asserted-by":"crossref","unstructured":"Kamgarpour, M., Ding, J., Summers, S., Abate, A., Lygeros, J., Tomlin, C.: Discrete time stochastic hybrid dynamical games: verification and controller synthesis. In: IEEE Conference on Decision and Control, pp. 6122\u20136127 (2011)","DOI":"10.1109\/CDC.2011.6161218"},{"issue":"2","key":"5_CR18","doi-asserted-by":"publisher","first-page":"187","DOI":"10.1109\/3468.833100","volume":"30","author":"KP Valavanis","year":"2000","unstructured":"Valavanis, K.P., Hebert, T., Kolluru, R., Tsourveloudis, N.: Mobile robot navigation in 2-d dynamic environments using an electrostatic potential field. IEEE Trans. Sys., Man, Cybern. 30(2), 187\u2013196 (2000)","journal-title":"IEEE Trans. Sys., Man, Cybern."},{"issue":"3","key":"5_CR19","doi-asserted-by":"publisher","first-page":"207","DOI":"10.1023\/A:1020564024509","volume":"13","author":"SS Ge","year":"2002","unstructured":"Ge, S.S., Cui, Y.J.: Dynamic motion planning for mobile robots using potential field method. Autom. Robots 13(3), 207\u2013222 (2002)","journal-title":"Autom. Robots"},{"key":"5_CR20","doi-asserted-by":"crossref","unstructured":"Majumdar, A., Tedrake, R.: Robust online motion planning with regions of finite time invariance. In: Algorithmic Foundations of Robotics, pp. 543\u2013558. Springer (2013)","DOI":"10.1007\/978-3-642-36279-8_33"},{"key":"5_CR21","doi-asserted-by":"crossref","unstructured":"Weijun, S., Rui, M., Chongchong, Y.: A study on soccer robot path planning with fuzzy artificial potential field. In: International Conference on Computing, Control and Industrial Engineering, vol. 1, June 2010, pp. 386\u2013390","DOI":"10.1109\/CCIE.2010.103"},{"key":"5_CR22","doi-asserted-by":"crossref","unstructured":"Vadakkepat, P., Tan, K.C., Ming-Liang, W.: Evolutionary artificial potential fields and their application in real time robot path planning. In: IEEE Congress on Evolutionary Computation, vol. 1, pp. 256\u2013263 (2000)","DOI":"10.1109\/CEC.2000.870304"},{"issue":"4","key":"5_CR23","first-page":"85","volume":"5","author":"Q Song","year":"2012","unstructured":"Song, Q., Liu, L.: Mobile robot path planning based on dynamic fuzzy artificial potential field method. Int. J. Hybrid Inf. Technol. 5(4), 85\u201394 (2012)","journal-title":"Int. J. Hybrid Inf. Technol."},{"issue":"4","key":"5_CR24","doi-asserted-by":"publisher","first-page":"635","DOI":"10.1109\/TRO.2010.2049527","volume":"26","author":"L Jaillet","year":"2010","unstructured":"Jaillet, L., Cort\u00e9s, J., Sim\u00e9on, T.: Sampling-based path planning on configuration-space costmaps. IEEE Trans. Robot. 26(4), 635\u2013646 (2010)","journal-title":"IEEE Trans. Robot."},{"issue":"2","key":"5_CR25","doi-asserted-by":"publisher","first-page":"244","DOI":"10.1109\/TVCG.2010.33","volume":"17","author":"S Patil","year":"2011","unstructured":"Patil, S., Van Den Berg, J., Curtis, S., Lin, M.C., Manocha, D.: Directing crowd simulations using navigation fields. Trans. Vis. Comput. Graph. 17(2), 244\u2013254 (2011)","journal-title":"Trans. Vis. Comput. Graph."},{"issue":"7","key":"5_CR26","doi-asserted-by":"publisher","first-page":"947","DOI":"10.1109\/TAC.2005.851439","volume":"50","author":"I Mitchell","year":"2005","unstructured":"Mitchell, I., Bayen, A., Tomlin, C.: A time-dependent Hamilton-Jacobi formulation of reachable sets for continuous dynamic games. Trans. Autom. Control 50(7), 947\u2013957 (2005)","journal-title":"Trans. Autom. Control"},{"key":"5_CR27","doi-asserted-by":"crossref","unstructured":"Margellos, K., Lygeros, J.: Hamilton-Jacobi formulation for reach-avoid problems with an application to air traffic management. American Control Conference, pp. 3045\u20133050 (2010)","DOI":"10.1109\/ACC.2010.5530514"},{"key":"5_CR28","doi-asserted-by":"crossref","unstructured":"Gillula, J.H., Hoffmann, G.M., Haomiao, H., Vitus, M.P., Tomlin, C.J.: Applications of hybrid reachability analysis to robotic aerial vehicles. Int. J. Robot. Res. (2011) 335\u2013354","DOI":"10.1177\/0278364910387173"},{"key":"5_CR29","doi-asserted-by":"crossref","unstructured":"Takei, R., Huang, H., Ding, J., Tomlin, C.: Time-optimal multi-stage motion planning with guaranteed collision avoidance via an open-loop game formulation. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. 323\u2013329 (2012)","DOI":"10.1109\/ICRA.2012.6225074"},{"key":"5_CR30","doi-asserted-by":"crossref","unstructured":"Ding, J., Li, E., Huang, H., Tomlin, C.: Reachability-based synthesis of feedback policies for motion planning under bounded disturbances. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. 2160\u20132165 (2011)","DOI":"10.1109\/ICRA.2011.5980268"},{"key":"5_CR31","unstructured":"Bertsekas, D.P.: Dynamic Programming and Optimal Control. Athena Sci. 1 (2005)"},{"key":"5_CR32","unstructured":"Massari, M., Giardini, G., Bernelli-Zazzera, F.: Autonomous navigation system for planetary exploration rover based on artificial potential fields. In: Dynamics and Control of Systems and Structures in Space (DCSSS), pp. 153\u2013162 (2004)"}],"container-title":["Springer Tracts in Advanced Robotics","Algorithmic Foundations of Robotics XI"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-16595-0_5","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,27]],"date-time":"2025-05-27T17:33:52Z","timestamp":1748367232000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-319-16595-0_5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015]]},"ISBN":["9783319165943","9783319165950"],"references-count":32,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-16595-0_5","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"value":"1610-7438","type":"print"},{"value":"1610-742X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015]]},"assertion":[{"value":"30 April 2015","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}