{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,18]],"date-time":"2026-08-18T00:27:09Z","timestamp":1787012829581,"version":"3.56.0"},"reference-count":30,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100012226","name":"China Scholarship Council and in part by the Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["YWF-21-BJ-J-633"],"award-info":[{"award-number":["YWF-21-BJ-J-633"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"China Scholarship Council and in part by the Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["202307090013"],"award-info":[{"award-number":["202307090013"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Automat. Sci. Eng."],"published-print":{"date-parts":[[2025]]},"DOI":"10.1109\/tase.2025.3614858","type":"journal-article","created":{"date-parts":[[2025,9,26]],"date-time":"2025-09-26T17:39:40Z","timestamp":1758908380000},"page":"23228-23240","source":"Crossref","is-referenced-by-count":2,"title":["Voronoi-Diagram-Based Nonconvex NMPC in Multi-Obstacle Environments for Robot Systems With Limited Detection Abilities"],"prefix":"10.1109","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-3384-9123","authenticated-orcid":false,"given":"Gan","family":"Zhao","sequence":"first","affiliation":[{"name":"CRIStAL, UMR CNRS 9189, Centrale Lille Institute, Villeneuve-d&#x2019;Ascq, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9128-1802","authenticated-orcid":false,"given":"Guoguang","family":"Wen","sequence":"additional","affiliation":[{"name":"School of Mathematics and Statistics, Beijing Jiaotong University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3871-4717","authenticated-orcid":false,"given":"Ahmed","family":"Rahmani","sequence":"additional","affiliation":[{"name":"CRIStAL, UMR CNRS 9189, Centrale Lille Institute, Villeneuve-d&#x2019;Ascq, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9144-4891","authenticated-orcid":false,"given":"Bofan","family":"Wu","sequence":"additional","affiliation":[{"name":"Faculty of Computer Science and Control Engineering, Shenzhen University of Advanced Technology, Shenzhen, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6707-5811","authenticated-orcid":false,"given":"Sara","family":"Ifqir","sequence":"additional","affiliation":[{"name":"CRIStAL, UMR CNRS 9189, Centrale Lille Institute, Villeneuve-d&#x2019;Ascq, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0275-9614","authenticated-orcid":false,"given":"Zhaoxia","family":"Peng","sequence":"additional","affiliation":[{"name":"School of Transportation Science and Engineering, Beihang University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.23919\/JSEE.2023.000051"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2025.3579863"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2022.3216989"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-024-10042-x"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2024.3400598"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2024.3354893"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2023.3341470"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s43684-021-00005-z"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3210276"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2024.3457538"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610381"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2025.3531818"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2008.06.011"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2021.109502"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2023.3235244"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2015.04.024"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2018.2798803"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2018.11.008"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2020.3025297"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2024.111959"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2021.3078390"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/tiv.2024.3472010"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-021-10029-2"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2021.3054888"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2020.3034800"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2022.2121616"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.23919\/ACC50511.2021.9483029"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICPS49255.2021.9468220"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/CDC45484.2021.9683174"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/CDC51059.2022.9992438"}],"container-title":["IEEE Transactions on Automation Science and Engineering"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8856\/10839176\/11181105.pdf?arnumber=11181105","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,11,11]],"date-time":"2025-11-11T06:02:32Z","timestamp":1762840952000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11181105\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"references-count":30,"URL":"https:\/\/doi.org\/10.1109\/tase.2025.3614858","relation":{},"ISSN":["1545-5955","1558-3783"],"issn-type":[{"value":"1545-5955","type":"print"},{"value":"1558-3783","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]}}}