{"id":"https://openalex.org/W4283737832","doi":"https://doi.org/10.1007/s10846-022-01608-1","title":"Fixed-Wing UAV Energy Efficient 3D Path Planning in Cluttered Environments","display_name":"Fixed-Wing UAV Energy Efficient 3D Path Planning in Cluttered Environments","publication_year":2022,"publication_date":"2022-07-01","ids":{"openalex":"https://openalex.org/W4283737832","doi":"https://doi.org/10.1007/s10846-022-01608-1"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-022-01608-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-022-01608-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-022-01608-1.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10846-022-01608-1.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075078926","display_name":"Giuseppe Aiello","orcid":"https://orcid.org/0000-0001-7957-4653"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Aiello","raw_affiliation_strings":["Politecnico di Torino, 10129, Torino, TO, Italy"],"raw_orcid":"https://orcid.org/0000-0001-7957-4653","affiliations":[{"raw_affiliation_string":"Politecnico di Torino, 10129, Torino, TO, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080779586","display_name":"Kimon P. Valavanis","orcid":"https://orcid.org/0000-0003-2393-8539"},"institutions":[{"id":"https://openalex.org/I131651094","display_name":"University of Denver","ror":"https://ror.org/04w7skc03","country_code":"US","type":"education","lineage":["https://openalex.org/I131651094"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kimon P. Valavanis","raw_affiliation_strings":["Ritchie School of Engineering and Computer Science, University of Denver, Denver, CO, 80210, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ritchie School of Engineering and Computer Science, University of Denver, Denver, CO, 80210, USA","institution_ids":["https://openalex.org/I131651094"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016579788","display_name":"Alessandro Rizzo","orcid":"https://orcid.org/0000-0002-2386-3146"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Alessandro Rizzo","raw_affiliation_strings":["Department of Electronics and Telecommunications, Politecnico di Torino, 10129, Torino, TO, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics and Telecommunications, Politecnico di Torino, 10129, Torino, TO, Italy","institution_ids":["https://openalex.org/I177477856"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5016579788"],"corresponding_institution_ids":["https://openalex.org/I177477856"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":3.1474,"has_fulltext":true,"cited_by_count":34,"citation_normalized_percentile":{"value":0.93060845,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"105","issue":"3","first_page":null,"last_page":null},"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":0.9955000281333923,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9934999942779541,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7971658706665039},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7585869431495667},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6902304887771606},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.5972904562950134},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5552242398262024},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5436323285102844},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5327375531196594},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4892735183238983},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.44316548109054565},{"id":"https://openalex.org/keywords/fixed-wing","display_name":"Fixed wing","score":0.43850693106651306},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4216901957988739},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.39922046661376953},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3523353934288025},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3369929790496826},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3284305930137634},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2999800443649292},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24950745701789856},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.19952404499053955},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13894790410995483},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12118378281593323},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07001858949661255}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7971658706665039},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7585869431495667},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6902304887771606},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.5972904562950134},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5552242398262024},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5436323285102844},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5327375531196594},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4892735183238983},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.44316548109054565},{"id":"https://openalex.org/C3018522811","wikidata":"https://www.wikidata.org/wiki/Q2875704","display_name":"Fixed wing","level":3,"score":0.43850693106651306},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4216901957988739},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.39922046661376953},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3523353934288025},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3369929790496826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3284305930137634},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2999800443649292},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24950745701789856},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.19952404499053955},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13894790410995483},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12118378281593323},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07001858949661255},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-022-01608-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-022-01608-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-022-01608-1.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10846-022-01608-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-022-01608-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-022-01608-1.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.5400000214576721,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309746","display_name":"Compagnia di San Paolo","ror":"https://ror.org/00d1b1c41"},{"id":"https://openalex.org/F4320313985","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4283737832.pdf","grobid_xml":"https://content.openalex.org/works/W4283737832.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W167726832","https://openalex.org/W1424654272","https://openalex.org/W1925307928","https://openalex.org/W1971086298","https://openalex.org/W1983394711","https://openalex.org/W1995965025","https://openalex.org/W2029599311","https://openalex.org/W2030203318","https://openalex.org/W2045522299","https://openalex.org/W2051648771","https://openalex.org/W2062638825","https://openalex.org/W2073912270","https://openalex.org/W2119394765","https://openalex.org/W2295752869","https://openalex.org/W2413639557","https://openalex.org/W2413712619","https://openalex.org/W2468618434","https://openalex.org/W2474225406","https://openalex.org/W2479723776","https://openalex.org/W2528951757","https://openalex.org/W2738842532","https://openalex.org/W2775776148","https://openalex.org/W2885320369","https://openalex.org/W2892378191","https://openalex.org/W2896481994","https://openalex.org/W2907813167","https://openalex.org/W2947097103","https://openalex.org/W2950326216","https://openalex.org/W2970226842","https://openalex.org/W2981021021","https://openalex.org/W3003100621","https://openalex.org/W3017479192","https://openalex.org/W4230412932"],"related_works":["https://openalex.org/W804484174","https://openalex.org/W2350278424","https://openalex.org/W1568779110","https://openalex.org/W2071432835","https://openalex.org/W4234371507","https://openalex.org/W4299534542","https://openalex.org/W1628824497","https://openalex.org/W4239401009","https://openalex.org/W2778896642","https://openalex.org/W1529590058"],"abstract_inverted_index":{"Abstract":[0],"UAV":[1,128],"path":[2,95,115],"planning":[3],"in":[4,20,130,135,160],"3D":[5,67,132],"cluttered":[6],"and":[7,24,81,86,112,120,134,172],"uncertain":[8],"environments":[9],"centers":[10],"on":[11,51],"finding":[12],"an":[13],"optimal":[14],"/":[15],"sub-optimal":[16],"collision-free":[17],"path,":[18],"considering":[19],"parallel":[21],"geometric,":[22],"physical":[23,31],"temporal":[25],"constraints,":[26],"fox":[27],"example,":[28],"obstacles,":[29],"infrastructure,":[30],"or":[32],"artificial":[33],"landmarks,":[34],"etc.":[35],"This":[36,142],"paper":[37],"introduces":[38],"a":[39,93,126,147,161],"novel":[40],"node-based":[41],"algorithm,":[42,55],"called":[43],"Energy":[44],"Efficient":[45],"A*":[46,53,177],"(EEA*),":[47],"which":[48],"is":[49,70,78,83,97,143,169],"based":[50],"the":[52,75,91,107,113,136,175],"search":[54],"but":[56],"overcomes":[57],"some":[58],"of":[59,138,167],"its":[60],"key":[61],"limitations.":[62],"The":[63,110,164],"EEA*":[64,111,168],"deals":[65],"with":[66,102,174],"environments,":[68,133],"it":[69,77,82],"robust":[71],"converging":[72],"fast":[73],"to":[74,90,100,155],"solution,":[76],"energy":[79,165],"efficient":[80],"real-time":[84],"implementable":[85],"executable.":[87],"In":[88],"addition":[89],"EEA*,":[92],"local":[94,114],"planner":[96,116],"also":[98,170],"derived":[99],"cope":[101],"unknown":[103,139],"dynamic":[104,140],"threats":[105],"within":[106],"working":[108],"environment.":[109],"are":[117,153],"first":[118],"implemented":[119],"evaluated":[121],"via":[122],"simulated":[123],"experiments":[124],"using":[125],"fixed-wing":[127],"operating":[129],"mountain-like":[131],"presence":[137],"obstacles.":[141],"followed":[144],"by":[145],"evaluating":[146],"set":[148],"up":[149],"where":[150],"three":[151],"UAVs":[152],"commanded":[154],"follow":[156],"their":[157],"respective":[158],"paths":[159],"safe":[162],"way.":[163],"efficiency":[166],"tested":[171],"compared":[173],"conventional":[176],"algorithm.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-24T13:16:06.693445","created_date":"2025-10-10T00:00:00"}
