{"id":"https://openalex.org/W3036124189","doi":"https://doi.org/10.1017/s0263574720000387","title":"Efficient and Safe Motion Planning for Quadrotors Based on Unconstrained Quadratic Programming","display_name":"Efficient and Safe Motion Planning for Quadrotors Based on Unconstrained Quadratic Programming","publication_year":2020,"publication_date":"2020-06-19","ids":{"openalex":"https://openalex.org/W3036124189","doi":"https://doi.org/10.1017/s0263574720000387","mag":"3036124189"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574720000387","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720000387","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-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/A5100360586","display_name":"Yanhui Li","orcid":"https://orcid.org/0000-0001-7510-1234"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yanhui Li","raw_affiliation_strings":["Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education, School of Aerospace Engineering, Beijing Institute of Technology, Beijing, 100081, P.R. China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education, School of Aerospace Engineering, Beijing Institute of Technology, Beijing, 100081, P.R. China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101856554","display_name":"Chao Liu","orcid":"https://orcid.org/0000-0001-7953-5144"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Liu","raw_affiliation_strings":["Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education, School of Aerospace Engineering, Beijing Institute of Technology, Beijing, 100081, P.R. China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education, School of Aerospace Engineering, Beijing Institute of Technology, Beijing, 100081, P.R. China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100360586"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.4885,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.65229885,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"39","issue":"2","first_page":"317","last_page":"333"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9868999719619751,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9855999946594238,"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":0.8140279650688171},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7546625137329102},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.70913165807724},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6342544555664062},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6098625063896179},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5996177196502686},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5970578193664551},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5846260190010071},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5364283919334412},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.5351273417472839},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.4818935990333557},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.45853716135025024},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.43987399339675903},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.4287859797477722},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3575771749019623},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3565744459629059},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2676241993904114},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2656033933162689},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.20267704129219055},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12691053748130798}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8140279650688171},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7546625137329102},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.70913165807724},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6342544555664062},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6098625063896179},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5996177196502686},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5970578193664551},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5846260190010071},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5364283919334412},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.5351273417472839},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4818935990333557},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.45853716135025024},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.43987399339675903},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.4287859797477722},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3575771749019623},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3565744459629059},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2676241993904114},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2656033933162689},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.20267704129219055},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12691053748130798},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574720000387","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574720000387","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.75,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W135651235","https://openalex.org/W1527795844","https://openalex.org/W1568784080","https://openalex.org/W1605218591","https://openalex.org/W1965336654","https://openalex.org/W1971086298","https://openalex.org/W1996183429","https://openalex.org/W2071741663","https://openalex.org/W2104241562","https://openalex.org/W2106030745","https://openalex.org/W2136207702","https://openalex.org/W2145313322","https://openalex.org/W2161076907","https://openalex.org/W2162991084","https://openalex.org/W2226214879","https://openalex.org/W2328598954","https://openalex.org/W2401412386","https://openalex.org/W2482392012","https://openalex.org/W2561780869","https://openalex.org/W2564322318","https://openalex.org/W2587415290","https://openalex.org/W2607968634","https://openalex.org/W2732510496","https://openalex.org/W2754965833","https://openalex.org/W2890926967","https://openalex.org/W2891491652","https://openalex.org/W2895440838","https://openalex.org/W2903506349","https://openalex.org/W2907362034","https://openalex.org/W2908528560","https://openalex.org/W2962794880","https://openalex.org/W2963249250","https://openalex.org/W2963497136"],"related_works":["https://openalex.org/W2389713625","https://openalex.org/W2137520303","https://openalex.org/W2381469031","https://openalex.org/W2152311680","https://openalex.org/W4321065611","https://openalex.org/W2610147447","https://openalex.org/W2065499315","https://openalex.org/W4293530535","https://openalex.org/W2100656238","https://openalex.org/W3036124189"],"abstract_inverted_index":{"SUMMARY":[0],"An":[1],"autonomous":[2],"motion":[3],"planning":[4,11],"framework":[5],"is":[6,22,45],"proposed,":[7],"consisting":[8],"of":[9],"path":[10],"and":[12,28,33,40,52,79],"trajectory":[13,43],"generation.":[14],"Primarily,":[15],"a":[16,26,38,55,80],"spacious":[17],"preferred":[18],"probabilistic":[19],"roadmap":[20],"algorithm":[21],"utilized":[23],"to":[24],"search":[25],"safe":[27,81],"short":[29],"path,":[30],"considering":[31],"kinematics":[32],"threats":[34],"from":[35],"obstacles.":[36],"Subsequently,":[37],"minimum-snap":[39],"position-clearance":[41],"polynomial":[42],"problem":[44],"transformed":[46],"into":[47],"an":[48],"unconstrained":[49],"quadratic":[50],"programming":[51],"solved":[53],"in":[54],"two-step":[56],"optimization.":[57],"Finally,":[58],"comparisons":[59],"with":[60],"other":[61],"methods":[62],"based":[63],"on":[64],"statistical":[65],"simulations":[66],"are":[67],"implemented.":[68],"The":[69],"results":[70],"show":[71],"that":[72],"the":[73],"proposed":[74],"method":[75],"achieves":[76],"computational":[77],"efficiency":[78],"trajectory.":[82]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}