{"id":"W4382936011","doi":"10.23919/acc55779.2023.10156634","title":"Safe and Quasi-Optimal Autonomous Navigation in Sphere Worlds","year":2023,"lang":"en","type":"article","venue":"","topic":"Robotic Path Planning Algorithms","field":"Computer Science","cited_by":5,"is_retracted":false,"has_abstract":true,"ca_institutions":"Western University; Université du Québec en Outaouais; Lakehead University","funders":"","keywords":"Obstacle; Computer science; Point (geometry); Control theory (sociology); Exponential stability; Path (computing); Euclidean space; Motion planning; Obstacle avoidance; Euclidean shortest path; Equilibrium point; Trajectory; Control (management); Shortest path problem; Mathematics; Mobile robot; Artificial intelligence; Mathematical analysis; Geometry; Physics; Geography; Robot","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0003016439,0.0004799206,0.0003230922,0.0003207429,0.0003382281,0.0006739734,0.0005015781,0.000441343,0.0007397298],"category_scores_gemma":[0.0009339756,0.0002653439,0.0002842709,0.0001793752,0.001269962,0.0008083216,0.00103896,0.0004674974,0.0001741646],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0004411131,"about_ca_system_score_gemma":0.0006238204,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.003882809,"about_ca_topic_score_gemma":0.003095804,"domain_scores_codex":[0.9997382,0.00007087744,0.000009365994,0.00003530269,0.0001039492,0.00004227896],"domain_scores_gemma":[0.9996884,0.0001112712,0.0000631197,0.0000304979,0.00006615878,0.00004059689],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0001309692,0.00004657696,0.000499382,0.00005054454,0.00002590606,0.000216363,0.0002231542,0.8831357,0.01332495,0.07151785,0.0006970764,0.03013137],"study_design_scores_gemma":[0.00001142026,0.00007265132,0.0001149302,0.000003215569,0.000003353451,0.00002960385,0.0000261831,0.9811593,0.001148888,0.01693034,0.0004935095,0.000006552227],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.0559812,0.0001575507,0.9409661,0.0001138023,0.00002366706,0.00001528594,0.00001491789,0.000196137,0.002531419],"genre_scores_gemma":[0.9471126,0.0001577197,0.05115669,0.00003773131,0.00001495697,0.00004530007,0.00003419217,0.00002573074,0.001415274],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.003882809,"threshold_uncertainty_score":0.007720411,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01671163436104174,"score_gpt":0.2618919041836539,"score_spread":0.2451802698226122,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}