{"id":"https://openalex.org/W2953793662","doi":"https://doi.org/10.1109/access.2019.2926782","title":"Matrix Structure Driven Interior Point Method for Quadrotor Real-Time Trajectory Planning","display_name":"Matrix Structure Driven Interior Point Method for Quadrotor Real-Time Trajectory Planning","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2953793662","doi":"https://doi.org/10.1109/access.2019.2926782","mag":"2953793662"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2926782","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2926782","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08755844.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08755844.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085755358","display_name":"Guangtong Xu","orcid":"https://orcid.org/0000-0003-0683-5992"},"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":"Guangtong Xu","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0683-5992","affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100416717","display_name":"Teng Long","orcid":"https://orcid.org/0000-0001-6410-8094"},"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":"Teng Long","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100439573","display_name":"Zhu Wang","orcid":"https://orcid.org/0000-0003-3691-1407"},"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":"Zhu Wang","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025721016","display_name":"Yan Cao","orcid":"https://orcid.org/0000-0003-3492-3711"},"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":"Yan Cao","raw_affiliation_strings":["School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.4963,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.68332412,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"7","issue":null,"first_page":"90941","last_page":"90953"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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":0.9987999796867371,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9968000054359436,"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/T12158","display_name":"Guidance and Control Systems","score":0.996399998664856,"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/interior-point-method","display_name":"Interior point method","score":0.7287737727165222},{"id":"https://openalex.org/keywords/karush\u2013kuhn\u2013tucker-conditions","display_name":"Karush\u2013Kuhn\u2013Tucker conditions","score":0.6586823463439941},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6494070887565613},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6144599914550781},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5780276656150818},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5279639959335327},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.4439721405506134},{"id":"https://openalex.org/keywords/positive-definiteness","display_name":"Positive definiteness","score":0.42776763439178467},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31865283846855164},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.2600351572036743},{"id":"https://openalex.org/keywords/positive-definite-matrix","display_name":"Positive-definite matrix","score":0.09768795967102051}],"concepts":[{"id":"https://openalex.org/C155253501","wikidata":"https://www.wikidata.org/wiki/Q461992","display_name":"Interior point method","level":2,"score":0.7287737727165222},{"id":"https://openalex.org/C50454189","wikidata":"https://www.wikidata.org/wiki/Q2075125","display_name":"Karush\u2013Kuhn\u2013Tucker conditions","level":2,"score":0.6586823463439941},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6494070887565613},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6144599914550781},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5780276656150818},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5279639959335327},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.4439721405506134},{"id":"https://openalex.org/C2778265155","wikidata":"https://www.wikidata.org/wiki/Q7233276","display_name":"Positive definiteness","level":4,"score":0.42776763439178467},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31865283846855164},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.2600351572036743},{"id":"https://openalex.org/C49712288","wikidata":"https://www.wikidata.org/wiki/Q77601250","display_name":"Positive-definite matrix","level":3,"score":0.09768795967102051},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2926782","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2926782","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08755844.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:97c604566ee04c3dad879e907bc52e66","is_oa":true,"landing_page_url":"https://doaj.org/article/97c604566ee04c3dad879e907bc52e66","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 90941-90953 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2926782","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2926782","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08755844.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3220121804","display_name":null,"funder_award_id":"2018M631361","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G4621389448","display_name":null,"funder_award_id":"51675047","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2953793662.pdf","grobid_xml":"https://content.openalex.org/works/W2953793662.grobid-xml"},"referenced_works_count":42,"referenced_works":["https://openalex.org/W1489244333","https://openalex.org/W1490395035","https://openalex.org/W1594126539","https://openalex.org/W1846830349","https://openalex.org/W1966185282","https://openalex.org/W1967073510","https://openalex.org/W1968972015","https://openalex.org/W1974204180","https://openalex.org/W1980450998","https://openalex.org/W1984505032","https://openalex.org/W1999913571","https://openalex.org/W2008277209","https://openalex.org/W2021748044","https://openalex.org/W2027928741","https://openalex.org/W2044274238","https://openalex.org/W2062731992","https://openalex.org/W2091083460","https://openalex.org/W2093187605","https://openalex.org/W2117402460","https://openalex.org/W2136207702","https://openalex.org/W2140453287","https://openalex.org/W2161443056","https://openalex.org/W2221321873","https://openalex.org/W2513178932","https://openalex.org/W2516543836","https://openalex.org/W2554071958","https://openalex.org/W2564338395","https://openalex.org/W2570797376","https://openalex.org/W2587415290","https://openalex.org/W2608775622","https://openalex.org/W2744091781","https://openalex.org/W2772821814","https://openalex.org/W2773080460","https://openalex.org/W2784005535","https://openalex.org/W2811505405","https://openalex.org/W2886374915","https://openalex.org/W2963497136","https://openalex.org/W3102244603","https://openalex.org/W4205154133","https://openalex.org/W4250589301","https://openalex.org/W4301014524","https://openalex.org/W6680244012"],"related_works":["https://openalex.org/W4244338775","https://openalex.org/W4299713359","https://openalex.org/W2035372690","https://openalex.org/W2963941240","https://openalex.org/W2486286901","https://openalex.org/W2169913650","https://openalex.org/W2051721398","https://openalex.org/W3065284018","https://openalex.org/W2363989901","https://openalex.org/W2153271882"],"abstract_inverted_index":{"Sequential":[0],"convex":[1,23,60],"programming":[2,24],"(SCP)":[3],"has":[4],"been":[5],"recently":[6],"employed":[7],"in":[8,59,188],"various":[9],"trajectory":[10,40,79,197],"planning":[11,80],"problems,":[12],"including":[13],"entry":[14],"flight,":[15],"planetary":[16],"landing,":[17],"and":[18,128,186,192],"aircraft":[19],"formation.":[20],"In":[21,62,107],"SCP,":[22],"subproblems":[25],"are":[26,70,136],"sequentially":[27],"solved":[28],"to":[29,51,89,119,138],"obtain":[30],"the":[31,53,73,83,91,110,121,129,141,149,152,165,176,195,202],"optimum":[32],"of":[33,55,77,93,97,113,124,133,151,159,164,190],"original":[34],"nonconvex":[35],"problems.":[36],"For":[37],"SCP-based":[38],"quadrotor":[39,78],"planning,":[41],"this":[42],"paper":[43],"proposes":[44],"a":[45],"matrix-structure-driven":[46],"interior":[47],"point":[48],"method":[49,154,204],"(MSD-IPM)":[50],"improve":[52],"efficiency":[54,150,191],"solving":[56,67],"search":[57,68,126,142],"directions":[58,69],"programming.":[61],"MSD-IPM,":[63],"primal-dual":[64,98],"systems":[65,99],"for":[66,209],"derived":[71],"from":[72],"Karush-Kuhn-Tucher":[74],"(KKT)":[75],"conditions":[76],"subproblems.":[81],"Then,":[82],"successive":[84,108],"elimination":[85],"technique":[86],"is":[87,117,155],"used":[88,118],"solve":[90],"inverse":[92],"large-scale":[94],"coefficient":[95],"matrices":[96,116,135],"by":[100],"more":[101],"efficient":[102],"operations":[103],"on":[104,171],"small-scale":[105,115,134],"matrices.":[106],"elimination,":[109],"positive":[111],"definiteness":[112],"several":[114,180],"enhance":[120],"numerical":[122],"stability":[123],"computing":[125],"directions,":[127],"specific":[130],"diagonal":[131],"structures":[132],"exploited":[137],"efficiently":[139],"compute":[140],"directions.":[143],"The":[144,168],"complexity":[145],"analysis":[146],"shows":[147],"that":[148,163,175,201],"proposed":[153,203],"about":[156],"one":[157],"order":[158],"magnitude":[160],"higher":[161],"than":[162],"standard":[166],"IPM.":[167],"comparative":[169],"studies":[170],"simulation":[172],"experiments":[173,199],"demonstrate":[174],"MSD-IPM":[177],"generally":[178],"outperforms":[179],"well-known":[181],"optimizers":[182],"(e.g.,":[183],"MOSEK,":[184],"SDPT3,":[185],"SeDuMi)":[187],"terms":[189],"robustness.":[193],"Finally,":[194],"indoor":[196],"tracking":[198],"indicate":[200],"can":[205],"generate":[206],"smooth":[207],"trajectories":[208],"real-world":[210],"applications.":[211]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}