{"id":"https://openalex.org/W2141703973","doi":"https://doi.org/10.1109/acc.2006.1657267","title":"Path planning in three dimensional environment using feedback linearization","display_name":"Path planning in three dimensional environment using feedback linearization","publication_year":2006,"publication_date":"2006-01-01","ids":{"openalex":"https://openalex.org/W2141703973","doi":"https://doi.org/10.1109/acc.2006.1657267","mag":"2141703973"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2006.1657267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2006.1657267","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 American Control Conference","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/A5078143421","display_name":"Shreecharan Kanchanavally","orcid":null},"institutions":[{"id":"https://openalex.org/I127591826","display_name":"University of Dayton","ror":"https://ror.org/021v3qy27","country_code":"US","type":"education","lineage":["https://openalex.org/I127591826"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"S. Kanchanavally","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Dayton, Dayton, OH, USA","Dept. of Electr. & Comput. Eng., Dayton Univ., OH, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Dayton, Dayton, OH, USA","institution_ids":["https://openalex.org/I127591826"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Dayton Univ., OH, USA","institution_ids":["https://openalex.org/I127591826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011542353","display_name":"Ra\u00fal Ord\u00f3\u00f1ez","orcid":"https://orcid.org/0000-0002-2912-9727"},"institutions":[{"id":"https://openalex.org/I127591826","display_name":"University of Dayton","ror":"https://ror.org/021v3qy27","country_code":"US","type":"education","lineage":["https://openalex.org/I127591826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Ordonez","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Dayton, Dayton, OH, USA","Dept. of Electr. & Comput. Eng., Dayton Univ., OH, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Dayton, Dayton, OH, USA","institution_ids":["https://openalex.org/I127591826"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Dayton Univ., OH, USA","institution_ids":["https://openalex.org/I127591826"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111882484","display_name":"Corey Schumacher","orcid":null},"institutions":[{"id":"https://openalex.org/I127591826","display_name":"University of Dayton","ror":"https://ror.org/021v3qy27","country_code":"US","type":"education","lineage":["https://openalex.org/I127591826"]},{"id":"https://openalex.org/I2799950915","display_name":"Wright-Patterson Air Force Base","ror":"https://ror.org/0097e1k27","country_code":"US","type":"other","lineage":["https://openalex.org/I1330347796","https://openalex.org/I2799950915","https://openalex.org/I4210089612","https://openalex.org/I4210102105"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C.J. Schumacher","raw_affiliation_strings":["Aerospace Engineer, AFRL/VACA, Wright Patterson Air Force Base, OH, USA","Dept. of Electr. & Comput. Eng., Dayton Univ., OH, USA"],"affiliations":[{"raw_affiliation_string":"Aerospace Engineer, AFRL/VACA, Wright Patterson Air Force Base, OH, USA","institution_ids":["https://openalex.org/I2799950915"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Dayton Univ., OH, USA","institution_ids":["https://openalex.org/I127591826"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5078143421"],"corresponding_institution_ids":["https://openalex.org/I127591826"],"apc_list":null,"apc_paid":null,"fwci":0.6036,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.73537897,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"6 pp.","last_page":"6 pp."},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9980000257492065,"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/feedback-linearization","display_name":"Feedback linearization","score":0.8875069618225098},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.7645244002342224},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7122746109962463},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6571328639984131},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6196843385696411},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5616691708564758},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.558594822883606},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5306357741355896},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4939902424812317},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.49199625849723816},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4488093852996826},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.43486928939819336},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.433247447013855},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3660307824611664},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26403987407684326},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.24010786414146423},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18294841051101685},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13470792770385742},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09090280532836914},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07271036505699158}],"concepts":[{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.8875069618225098},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.7645244002342224},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7122746109962463},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6571328639984131},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6196843385696411},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5616691708564758},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.558594822883606},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5306357741355896},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4939902424812317},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.49199625849723816},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4488093852996826},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.43486928939819336},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.433247447013855},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3660307824611664},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26403987407684326},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.24010786414146423},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18294841051101685},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13470792770385742},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09090280532836914},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07271036505699158},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2006.1657267","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2006.1657267","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W130083205","https://openalex.org/W402785383","https://openalex.org/W1968807469","https://openalex.org/W1977589712","https://openalex.org/W2047993072","https://openalex.org/W2067461601","https://openalex.org/W2105306134","https://openalex.org/W2110144538","https://openalex.org/W2119899283","https://openalex.org/W2129560912","https://openalex.org/W2130647945","https://openalex.org/W2132457975","https://openalex.org/W2132696685","https://openalex.org/W2133754447","https://openalex.org/W2142167813","https://openalex.org/W2159195903"],"related_works":["https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W1836713364","https://openalex.org/W2141603307","https://openalex.org/W2899783744","https://openalex.org/W2964841342","https://openalex.org/W2131265573","https://openalex.org/W4300511988","https://openalex.org/W130230158","https://openalex.org/W2317650444"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,16,37,51,73,79],"control":[4],"scheme":[5],"via":[6],"feedback":[7,32],"linearization":[8,33],"for":[9,91],"three":[10],"dimensional":[11],"cooperative":[12],"path":[13],"planning":[14],"of":[15,18,50,81],"class":[17],"interconnected":[19],"systems":[20,69],"in":[21,25],"general":[22],"and":[23,86,95],"UAVs":[24,43,85],"particular.":[26],"It":[27],"is":[28,78,89],"shown":[29],"that":[30],"the":[31,47,64,84,87],"technique":[34],"along":[35],"with":[36,57,93],"distance":[38,82],"varied":[39],"repulsive":[40],"profile":[41],"allows":[42],"to":[44,46],"converge":[45],"invariant":[48],"set":[49],"known":[52],"target":[53],"location":[54],"without":[55],"colliding":[56],"other":[58],"vehicles.":[59],"Lyapunov":[60],"stability":[61],"analysis":[62],"shows":[63],"conditions":[65],"under":[66],"which":[67,77],"such":[68],"are":[70],"stable.":[71],"Also":[72],"task":[74],"assignment":[75],"algorithm,":[76],"function":[80],"between":[83],"target,":[88],"proposed":[90],"dealing":[92],"multi-UAV":[94],"multi-target":[96],"scenario":[97]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
