The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Generalized velocity obstacles
Abstract
We address the problem of real-time navigation in dynamic environments for car-like robots. We present an approach to identify controls that will lead to a collision with a moving obstacle at some point in the future. Our approach generalizes the concept of velocity obstacles, which have been used for navigation among dynamic obstacles, and takes into account the constraints of a car-like robot. We use this formulation to find controls that will allow collision free navigation in dynamic environments. Finally, we demonstrate the performance of our algorithm on a simulated car-like robot among moving obstacles.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cites
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Khatib, O. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500106 · Cited by 7,894
Cited by
Path Planning for Autonomous Mobile Robots: A Review
Sánchez-Ibáñez, J. R., Pérez-del-Pulgar, C. J., & García-Cerezo, A. (2021) · Sensors · doi:10.3390/s21237898 · Cited by 462
Ship collision avoidance methods: State-of-the-art
Huang, Y., Chen, L., Chen, P., Negenborn, R. R., & van Gelder, P. H. A. J. M. (2020) · Safety Science · doi:10.1016/j.ssci.2019.09.018 · Cited by 431
Reciprocal collision avoidance with acceleration-velocity obstacles
van den Berg, J., Snape, J., Guy, S. J., & Manocha, D. (2011) · 2011 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2011.5980408 · Cited by 288
Self-citationFast, On-line Collision Avoidance for Dynamic Vehicles Using Buffered Voronoi Cells
Zhou, D., Wang, Z., Bandyopadhyay, S., & Schwager, M. (2017) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2017.2656241 · Cited by 286
Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots
Alonso-Mora, J., Breitenmoser, A., Rufli, M., Beardsley, P., & Siegwart, R. (2013) · Springer Tracts in Advanced Robotics · doi:10.1007/978-3-642-32723-0_15 · Cited by 280
Metadata
- Authors
- Wilkie, D., van den Berg, J., & Manocha, D.
- Venue
- 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2009-10
- Pages
- 5573-5578
- OpenAlex
- W2166052572
- Cited by
- 241
- References
- 1
- FWCI
- 5.18
- Type
- conference paper
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: Generalized velocity obstacles. https://app.cochat.ai/papers/10.1109/iros.2009.5354175
- The paper
- Wilkie, D., van den Berg, J., & Manocha, D. (2009). Generalized velocity obstacles. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. https://doi.org/10.1109/iros.2009.5354175
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
