{"id":"https://openalex.org/W2291160178","doi":"https://doi.org/10.1109/robio.2015.7419013","title":"Real-time safe trajectory generation for quadrotor flight in cluttered environments","display_name":"Real-time safe trajectory generation for quadrotor flight in cluttered environments","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2291160178","doi":"https://doi.org/10.1109/robio.2015.7419013","mag":"2291160178"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7419013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419013","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100394832","display_name":"Jing Chen","orcid":"https://orcid.org/0000-0001-8633-0673"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Jing Chen","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028452564","display_name":"Kunyue Su","orcid":null},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kunyue Su","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001947944","display_name":"Shaojie Shen","orcid":"https://orcid.org/0000-0002-5573-2909"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shaojie Shen","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100394832"],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":1.4972,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.88644647,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1678","last_page":"1685"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7704352736473083},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.7202297449111938},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6604305505752563},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5636200308799744},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5391964912414551},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.49679329991340637},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4607269763946533},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.42078855633735657},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4131617248058319},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.377214640378952},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3739885687828064},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37267598509788513},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33590203523635864},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32769161462783813},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.28455737233161926},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19493603706359863},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1395494043827057}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7704352736473083},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.7202297449111938},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6604305505752563},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5636200308799744},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5391964912414551},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.49679329991340637},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4607269763946533},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.42078855633735657},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4131617248058319},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.377214640378952},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3739885687828064},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37267598509788513},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33590203523635864},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32769161462783813},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.28455737233161926},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19493603706359863},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1395494043827057},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robio.2015.7419013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419013","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-77451","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-77451","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"},{"id":"pmh:oai:repository.ust.hk:1783.1-77451","is_oa":false,"landing_page_url":"http://repository.ust.hk/ir/Record/1783.1-77451","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1777783943","https://openalex.org/W1964318763","https://openalex.org/W1981405425","https://openalex.org/W2024802078","https://openalex.org/W2030005314","https://openalex.org/W2043424691","https://openalex.org/W2049561732","https://openalex.org/W2080514141","https://openalex.org/W2104154890","https://openalex.org/W2109656638","https://openalex.org/W2133844819","https://openalex.org/W2136207702","https://openalex.org/W2137052305","https://openalex.org/W2162991084","https://openalex.org/W2294713796","https://openalex.org/W2395047452","https://openalex.org/W2482392012","https://openalex.org/W4250589301","https://openalex.org/W6712218451","https://openalex.org/W6721835424"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W2356996864","https://openalex.org/W4244391535","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2139910871","https://openalex.org/W2361427670","https://openalex.org/W2886240924"],"abstract_inverted_index":{"We":[0],"address":[1],"the":[2,37,68,84,89],"problem":[3],"of":[4,7,15,29,103],"real-time":[5,110],"generation":[6],"smooth":[8],"and":[9,46,70,118],"collision-free":[10],"trajectories":[11,62],"for":[12,58,88,100,124],"autonomous":[13],"flight":[14,39],"a":[16,27,54],"quadrotor":[17,113],"through":[18],"3-D":[19,32],"cluttered":[20],"environments.":[21],"Our":[22,73],"approach":[23],"starts":[24],"by":[25],"generating":[26,59],"sequence":[28],"variable":[30],"sized":[31],"free":[33],"space":[34],"grids":[35],"as":[36],"virtual":[38],"corridor":[40],"using":[41],"an":[42],"OctoMap-based":[43],"environment":[44],"representation":[45],"search-based":[47],"planning":[48],"method.":[49],"The":[50,106],"key":[51],"contribution":[52],"is":[53,86,97],"quadratic":[55],"programming-based":[56],"formulation":[57,74],"multi-segment":[60],"polynomial":[61],"that":[63,83],"are":[64,122],"entirely":[65],"fit":[66],"within":[67],"corridor,":[69],"thus":[71],"collision-free.":[72],"also":[75,98],"allows":[76],"incorporating":[77],"higher-order":[78],"dynamical":[79],"constraints":[80],"to":[81],"ensure":[82],"trajectory":[85],"feasible":[87],"platform.":[90],"A":[91],"novel":[92],"non-iterative":[93],"constraint":[94],"relaxation":[95],"method":[96],"proposed":[99,107],"implicit":[101],"optimization":[102],"segment":[104],"duration.":[105],"algorithm":[108],"runs":[109],"onboard":[111],"our":[112],"experimental":[114,120],"testbed.":[115],"Both":[116],"simulation":[117],"online":[119],"results":[121],"presented":[123],"performance":[125],"verification.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}