{"id":"https://openalex.org/W4415090825","doi":"https://doi.org/10.1007/s10846-026-02403-y","title":"STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle","display_name":"STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle","publication_year":2026,"publication_date":"2026-05-02","ids":{"openalex":"https://openalex.org/W4415090825","doi":"https://doi.org/10.1007/s10846-026-02403-y"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-026-02403-y","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-026-02403-y","pdf_url":null,"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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1007/s10846-026-02403-y","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039424687","display_name":"Giuseppe Silano","orcid":"https://orcid.org/0000-0002-6816-6002"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Giuseppe Silano","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0002-6816-6002","affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021620659","display_name":"Amr Afifi","orcid":"https://orcid.org/0000-0002-2267-575X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Amr Afifi","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0002-2267-575X","affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004992661","display_name":"Martin Saska","orcid":"https://orcid.org/0000-0001-7106-3816"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Martin Saska","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0001-7106-3816","affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5001771133","display_name":"Antonio Franchi","orcid":"https://orcid.org/0000-0002-5670-1282"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Antonio Franchi","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0002-5670-1282","affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":3090,"currency":"USD","value_usd":3090},"apc_paid":{"value":3090,"currency":"USD","value_usd":3090},"fwci":21.6978,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.98409536,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"112","issue":"3","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9779000282287598,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9779000282287598,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11357","display_name":"Risk and Safety Analysis","score":0.9757000207901001,"subfield":{"id":"https://openalex.org/subfields/1804","display_name":"Statistics, Probability and Uncertainty"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9498000144958496,"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/key","display_name":"Key (lock)","score":0.5795000195503235},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.512499988079071},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5105999708175659},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4661000072956085},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.4147000014781952},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.36730000376701355},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.3587000072002411},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.34139999747276306},{"id":"https://openalex.org/keywords/handover","display_name":"Handover","score":0.3384000062942505}],"concepts":[{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5795000195503235},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5443999767303467},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.512499988079071},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5105999708175659},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4661000072956085},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.4147000014781952},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.36730000376701355},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36550000309944153},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36399999260902405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3610000014305115},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.3587000072002411},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.34139999747276306},{"id":"https://openalex.org/C111852164","wikidata":"https://www.wikidata.org/wiki/Q1414679","display_name":"Handover","level":2,"score":0.3384000062942505},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3336000144481659},{"id":"https://openalex.org/C112930515","wikidata":"https://www.wikidata.org/wiki/Q4389547","display_name":"Risk analysis (engineering)","level":1,"score":0.3271999955177307},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3244999945163727},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3149999976158142},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2962000072002411},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.289900004863739},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.289900004863739},{"id":"https://openalex.org/C202033279","wikidata":"https://www.wikidata.org/wiki/Q1931373","display_name":"Scenario planning","level":2,"score":0.2865000069141388},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.2858000099658966},{"id":"https://openalex.org/C2777036941","wikidata":"https://www.wikidata.org/wiki/Q6917771","display_name":"Motion analysis","level":2,"score":0.28459998965263367},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.28369998931884766},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.28029999136924744},{"id":"https://openalex.org/C32896092","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Risk management","level":2,"score":0.2728999853134155},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.257099986076355},{"id":"https://openalex.org/C12174686","wikidata":"https://www.wikidata.org/wiki/Q1058438","display_name":"Risk assessment","level":2,"score":0.25690001249313354},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2556999921798706},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2556000053882599},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.25209999084472656}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1007/s10846-026-02403-y","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-026-02403-y","pdf_url":null,"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"},{"id":"pmh:oai:arXiv.org:2509.10692","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2509.10692","pdf_url":"https://arxiv.org/pdf/2509.10692","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:ris.utwente.nl:openaire/806c54ac-dc40-48fe-b688-099ef9df1810","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/806c54ac-dc40-48fe-b688-099ef9df1810","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Silano, G, Afifi, A, Saska, M & Franchi, A 2025 'STL-Based Motion Planning and Uncertainty-Aware Risk Analysis for Human-Robot Collaboration with a Multi-Rotor Aerial Vehicle' ArXiv.org. https://doi.org/10.48550/arXiv.2509.10692","raw_type":"info:eu-repo/semantics/preprint"},{"id":"doi:10.48550/arxiv.2509.10692","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2509.10692","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.1007/s10846-026-02403-y","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-026-02403-y","pdf_url":null,"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":[],"awards":[{"id":"https://openalex.org/G112504165","display_name":null,"funder_award_id":"CZ.02.01.01/00/22_008/0004590","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G1747690346","display_name":null,"funder_award_id":"871479","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G2677629327","display_name":null,"funder_award_id":"CZ.02.01.01","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G2678520069","display_name":null,"funder_award_id":"CZ.02.01","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G3810236772","display_name":null,"funder_award_id":"CZ.02.01","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4396925471","display_name":null,"funder_award_id":"CZ.02.01.01","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4970537327","display_name":null,"funder_award_id":"CZ.02.01.01/00/22 008/0004590","funder_id":"https://openalex.org/F4320334322","funder_display_name":"HORIZON EUROPE Framework Programme"},{"id":"https://openalex.org/G5062584911","display_name":null,"funder_award_id":"SGS23/177/OHK3/3T/13","funder_id":"https://openalex.org/F4320309972","funder_display_name":"\u010cesk\u00e9 Vysok\u00e9 U\u010den\u00ed Technick\u00e9 v Praze"},{"id":"https://openalex.org/G5546660588","display_name":"Autonomous aerial inspection of GNSS-denied and confined critical infrastructures","funder_award_id":"101120732","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G601918449","display_name":"AERIAL COgnitive integrated multi-task Robotic system with Extended operation range and safety","funder_award_id":"871479","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7412942520","display_name":null,"funder_award_id":"SGS23/177/OHK3/3T/13","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G8336587112","display_name":"Agile swarms of aerial robots with reliable multimodal sensing and state-estimation capabilities","funder_award_id":"GA23-07517S","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G8395700221","display_name":null,"funder_award_id":"SGS23/177/OHK3/3T/13","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8627755517","display_name":null,"funder_award_id":"101120732","funder_id":"https://openalex.org/F4320334322","funder_display_name":"HORIZON EUROPE Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320309972","display_name":"\u010cesk\u00e9 Vysok\u00e9 U\u010den\u00ed Technick\u00e9 v Praze","ror":"https://ror.org/03kqpb082"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"This":[1],"paper":[2],"presents":[3],"a":[4,16],"motion":[5],"planning":[6],"and":[7,36,44,61,69,76,110,125,151],"risk":[8,85],"analysis":[9,86],"framework":[10,120],"for":[11,56],"enhancing":[12],"human-robot":[13],"collaboration":[14,154],"with":[15,39],"Multi-Rotor":[17],"Aerial":[18],"Vehicle.":[19],"The":[20,119],"proposed":[21,145],"method":[22,146],"employs":[23],"Signal":[24],"Temporal":[25],"Logic":[26],"to":[27,89,147],"encode":[28],"key":[29],"mission":[30],"objectives,":[31],"including":[32],"safety,":[33],"temporal":[34],"requirements,":[35],"human":[37],"preferences,":[38],"particular":[40],"emphasis":[41],"on":[42,128],"ergonomics":[43],"comfort.":[45],"An":[46],"optimization-based":[47],"planner":[48],"generates":[49],"dynamically":[50],"feasible":[51],"trajectories":[52],"while":[53],"explicitly":[54],"accounting":[55],"the":[57,66,91,141,144],"vehicle\u2019s":[58],"nonlinear":[59],"dynamics":[60],"actuation":[62],"constraints.":[63],"To":[64],"address":[65],"resulting":[67],"non-convex":[68],"non-smooth":[70],"optimization":[71],"problem,":[72],"smooth":[73],"robustness":[74],"approximations":[75],"gradient-based":[77],"techniques":[78],"are":[79],"adopted.":[80],"In":[81],"addition,":[82],"an":[83,129],"uncertainty-aware":[84],"is":[87,121],"introduced":[88],"quantify":[90],"likelihood":[92],"of":[93,143],"specification":[94],"violations":[95],"under":[96,155],"human-pose":[97],"uncertainty.":[98],"A":[99],"robustness-aware":[100],"event-triggered":[101],"replanning":[102],"strategy":[103],"further":[104],"enables":[105],"online":[106],"recovery":[107],"from":[108],"disturbances":[109],"unforeseen":[111],"events":[112],"by":[113,134],"preserving":[114],"safety":[115],"margins":[116],"during":[117],"execution.":[118],"validated":[122],"through":[123],"MATLAB":[124],"Gazebo":[126],"simulations":[127],"object":[130],"handover":[131],"task":[132],"inspired":[133],"power":[135],"line":[136],"maintenance":[137],"scenarios.":[138],"Results":[139],"demonstrate":[140],"ability":[142],"achieve":[148],"safe,":[149],"efficient,":[150],"resilient":[152],"human\u2013robot":[153],"realistic":[156],"operating":[157],"conditions.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-09-01T08:31:24.195828","created_date":"2025-10-12T00:00:00"}
