{"id":"https://openalex.org/W3135496326","doi":"https://doi.org/10.1109/access.2022.3154037","title":"PANTHER: Perception-Aware Trajectory Planner in Dynamic Environments","display_name":"PANTHER: Perception-Aware Trajectory Planner in Dynamic Environments","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W3135496326","doi":"https://doi.org/10.1109/access.2022.3154037","mag":"3135496326"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3154037","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3154037","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09721028.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":["arxiv","crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09721028.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036406890","display_name":"Jesus Tordesillas","orcid":"https://orcid.org/0000-0001-6848-4070"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jesus Tordesillas","raw_affiliation_strings":["Aerospace Controls Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Aerospace Controls Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011665886","display_name":"Jonathan P. How","orcid":"https://orcid.org/0000-0001-8576-1930"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan P. How","raw_affiliation_strings":["Aerospace Controls Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Aerospace Controls Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5036406890"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":6.0243,"has_fulltext":true,"cited_by_count":64,"citation_normalized_percentile":{"value":0.97363083,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"10","issue":null,"first_page":"22662","last_page":"22677"},"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":0.9995999932289124,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/planner","display_name":"Planner","score":0.7941592931747437},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7789299488067627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7621121406555176},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6585772633552551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3658853769302368},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3434668779373169},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3268641531467438},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.043693363666534424}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7941592931747437},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7789299488067627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7621121406555176},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6585772633552551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3658853769302368},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3434668779373169},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3268641531467438},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.043693363666534424},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/access.2022.3154037","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3154037","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09721028.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:arXiv.org:2103.06372","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.06372","pdf_url":"https://arxiv.org/pdf/2103.06372","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:doaj.org/article:d355155e58b14334bbd07b119d11086f","is_oa":true,"landing_page_url":"https://doaj.org/article/d355155e58b14334bbd07b119d11086f","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 22662-22677 (2022)","raw_type":"article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/145366","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/145366","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE","raw_type":"http://purl.org/eprint/type/JournalArticle"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3154037","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3154037","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09721028.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":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.4300000071525574}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306077","display_name":"Boeing","ror":"https://ror.org/04sm5zn07"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3135496326.pdf","grobid_xml":"https://content.openalex.org/works/W3135496326.grobid-xml"},"referenced_works_count":63,"referenced_works":["https://openalex.org/W183500108","https://openalex.org/W1986065507","https://openalex.org/W2026986224","https://openalex.org/W2057286639","https://openalex.org/W2109656638","https://openalex.org/W2123871098","https://openalex.org/W2136265843","https://openalex.org/W2149342630","https://openalex.org/W2162991084","https://openalex.org/W2169528473","https://openalex.org/W2222512263","https://openalex.org/W2229105208","https://openalex.org/W2414314951","https://openalex.org/W2587088476","https://openalex.org/W2596174801","https://openalex.org/W2613683354","https://openalex.org/W2744855064","https://openalex.org/W2768688993","https://openalex.org/W2769498435","https://openalex.org/W2773075019","https://openalex.org/W2811507150","https://openalex.org/W2842089854","https://openalex.org/W2883162277","https://openalex.org/W2890813673","https://openalex.org/W2892378191","https://openalex.org/W2907126380","https://openalex.org/W2963689432","https://openalex.org/W2968450786","https://openalex.org/W2969306559","https://openalex.org/W2972296478","https://openalex.org/W2972864268","https://openalex.org/W2973216148","https://openalex.org/W2990376862","https://openalex.org/W2999729662","https://openalex.org/W3000103029","https://openalex.org/W3002590034","https://openalex.org/W3003070058","https://openalex.org/W3003747652","https://openalex.org/W3004013996","https://openalex.org/W3011524659","https://openalex.org/W3029808435","https://openalex.org/W3039044154","https://openalex.org/W3087390404","https://openalex.org/W3089858107","https://openalex.org/W3091146474","https://openalex.org/W3091367268","https://openalex.org/W3092479441","https://openalex.org/W3093968153","https://openalex.org/W3125416317","https://openalex.org/W3132404438","https://openalex.org/W3133263625","https://openalex.org/W3135067689","https://openalex.org/W3159537771","https://openalex.org/W3183413118","https://openalex.org/W3205272129","https://openalex.org/W4246447829","https://openalex.org/W4250589301","https://openalex.org/W4394651791","https://openalex.org/W4396738453","https://openalex.org/W6708889036","https://openalex.org/W6767344952","https://openalex.org/W6780728864","https://openalex.org/W6784386756"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2112102973"],"abstract_inverted_index":{"This":[0,129],"paper":[1],"presents":[2],"PANTHER,":[3],"a":[4,205,210],"real-time":[5],"perception-aware":[6],"(PA)":[7],"trajectory":[8],"planner":[9],"for":[10],"multirotor-UAVs":[11],"(Unmanned":[12],"Aerial":[13],"Vehicles)":[14],"in":[15,29,42,141,156,165],"dynamic":[16,23,167],"environments.":[17],"PANTHER":[18,57,88],"plans":[19],"trajectories":[20],"that":[21,109],"avoid":[22],"obstacles":[24,94],"while":[25],"also":[26],"keeping":[27],"them":[28],"the":[30,38,50,61,68,78,82,85,93,96,120,171,191],"sensor":[31],"field":[32],"of":[33,49,64,81,179,193],"view":[34],"(FOV)":[35],"and":[36,47,99,106,112,126,158,184,209],"minimizing":[37],"blur":[39],"to":[40,58,66,91,131,150,181,190,195],"aid":[41],"object":[43],"tracking.":[44],"The":[45,115,145,198],"rotation":[46],"translation":[48,111],"UAV":[51,83],"are":[52,175,202],"jointly":[53],"optimized,":[54],"which":[55],"allows":[56],"fully":[59],"exploit":[60],"differential":[62],"flatness":[63],"multirotors":[65],"maximize":[67],"PA":[69,107],"objective.":[70],"Real-time":[71],"performance":[72],"is":[73,89,122,148],"achieved":[74],"by":[75,124],"implicitly":[76],"imposing":[77],"underactuated":[79],"dynamics":[80],"through":[84],"Hopf":[86],"fibration.":[87],"able":[90],"keep":[92],"inside":[95],"FOV":[97],"7.9":[98],"1.5":[100],"times":[101,136],"more":[102],"than":[103,138],"non-PA":[104],"approaches":[105,108,140],"decouple":[110],"yaw,":[113],"respectively.":[114,128],"projected":[116],"velocity":[117,159],"(and":[118],"hence":[119],"blur)":[121],"reduced":[123],"18%":[125],"34%,":[127],"leads":[130],"average":[132],"success":[133],"rates":[134],"three":[135],"larger":[137],"state-of-the-art":[139],"multi-obstacle":[142],"avoidance":[143,154],"scenarios.":[144],"MINVO":[146],"basis":[147],"used":[149,201],"impose":[151],"low-conservative":[152],"collision":[153],"constraints":[155],"position":[157],"space.":[160],"Finally,":[161],"extensive":[162],"hardware":[163],"experiments":[164],"unknown":[166],"environments":[168],"with":[169,177,185],"all":[170],"computation":[172],"running":[173],"onboard":[174],"presented,":[176],"velocities":[178,187],"up":[180,194],"5.8":[182],"m/s,":[183],"relative":[186],"(with":[188],"respect":[189],"obstacles)":[192],"6.3":[196],"m/s.":[197],"only":[199],"sensors":[200],"an":[203],"IMU,":[204],"forward-facing":[206],"depth":[207],"camera,":[208],"downward-facing":[211],"monocular":[212],"camera.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}