{"id":"https://openalex.org/W4406158029","doi":"https://doi.org/10.1109/access.2025.3527123","title":"Gaussian Mixture Model-Based Vector Approach to Real-Time Three-Dimensional Path Planning in Cluttered Environment","display_name":"Gaussian Mixture Model-Based Vector Approach to Real-Time Three-Dimensional Path Planning in Cluttered Environment","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4406158029","doi":"https://doi.org/10.1109/access.2025.3527123"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3527123","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3527123","pdf_url":null,"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://doi.org/10.1109/access.2025.3527123","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044586183","display_name":"Abera Tullu","orcid":"https://orcid.org/0000-0002-2385-3167"},"institutions":[{"id":"https://openalex.org/I24456540","display_name":"Korea Aerospace University","ror":"https://ror.org/05jmm0651","country_code":"KR","type":"education","lineage":["https://openalex.org/I24456540"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Abera Tullu","raw_affiliation_strings":["Department of Smart Air Mobility, Korea Aerospace University, Goyang-si, Gyeonggi-do, Republic of Korea","Department of Smart Air Mobility, Korea Aerospace University, Goyang, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-2385-3167","affiliations":[{"raw_affiliation_string":"Department of Smart Air Mobility, Korea Aerospace University, Goyang-si, Gyeonggi-do, Republic of Korea","institution_ids":["https://openalex.org/I24456540"]},{"raw_affiliation_string":"Department of Smart Air Mobility, Korea Aerospace University, Goyang, Republic of Korea","institution_ids":["https://openalex.org/I24456540"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004117128","display_name":"Yunsang Cho","orcid":null},"institutions":[{"id":"https://openalex.org/I24456540","display_name":"Korea Aerospace University","ror":"https://ror.org/05jmm0651","country_code":"KR","type":"education","lineage":["https://openalex.org/I24456540"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yunsang Cho","raw_affiliation_strings":["Department of Smart Air Mobility, Korea Aerospace University, Goyang-si, Gyeonggi-do, Republic of Korea","Department of Smart Air Mobility, Korea Aerospace University, Goyang, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0003-6102-8779","affiliations":[{"raw_affiliation_string":"Department of Smart Air Mobility, Korea Aerospace University, Goyang-si, Gyeonggi-do, Republic of Korea","institution_ids":["https://openalex.org/I24456540"]},{"raw_affiliation_string":"Department of Smart Air Mobility, Korea Aerospace University, Goyang, Republic of Korea","institution_ids":["https://openalex.org/I24456540"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009702846","display_name":"Sangho Ko","orcid":"https://orcid.org/0000-0003-0481-7969"},"institutions":[{"id":"https://openalex.org/I24456540","display_name":"Korea Aerospace University","ror":"https://ror.org/05jmm0651","country_code":"KR","type":"education","lineage":["https://openalex.org/I24456540"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sangho Ko","raw_affiliation_strings":["Department of Smart Air Mobility, Korea Aerospace University, Goyang-si, Gyeonggi-do, Republic of Korea","Department of Smart Air Mobility, Korea Aerospace University, Goyang, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-0481-7969","affiliations":[{"raw_affiliation_string":"Department of Smart Air Mobility, Korea Aerospace University, Goyang-si, Gyeonggi-do, Republic of Korea","institution_ids":["https://openalex.org/I24456540"]},{"raw_affiliation_string":"Department of Smart Air Mobility, Korea Aerospace University, Goyang, Republic of Korea","institution_ids":["https://openalex.org/I24456540"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.5326,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.86598772,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"13","issue":null,"first_page":"8077","last_page":"8091"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9686999917030334,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9686999917030334,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9031000137329102,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6700111627578735},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5748565196990967},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5568458437919617},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5149624943733215},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.504829466342926},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.49404433369636536},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4908662438392639},{"id":"https://openalex.org/keywords/gaussian-network-model","display_name":"Gaussian network model","score":0.4853867292404175},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3657758831977844},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3404727876186371},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3394950032234192},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07792031764984131}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6700111627578735},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5748565196990967},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5568458437919617},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5149624943733215},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.504829466342926},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.49404433369636536},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4908662438392639},{"id":"https://openalex.org/C166550679","wikidata":"https://www.wikidata.org/wiki/Q263400","display_name":"Gaussian network model","level":3,"score":0.4853867292404175},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3657758831977844},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3404727876186371},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3394950032234192},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07792031764984131},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3527123","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3527123","pdf_url":null,"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:d3e1c02c709e4852a31247228dceb21c","is_oa":true,"landing_page_url":"https://doaj.org/article/d3e1c02c709e4852a31247228dceb21c","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 13, Pp 8077-8091 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3527123","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3527123","pdf_url":null,"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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W2007538760","https://openalex.org/W2060613652","https://openalex.org/W2078124810","https://openalex.org/W2103495448","https://openalex.org/W2114476723","https://openalex.org/W2115262059","https://openalex.org/W2128990851","https://openalex.org/W2136221370","https://openalex.org/W2152565110","https://openalex.org/W2163003390","https://openalex.org/W2204324558","https://openalex.org/W2468618434","https://openalex.org/W2746411854","https://openalex.org/W2803174854","https://openalex.org/W2881463677","https://openalex.org/W2888739182","https://openalex.org/W2894757447","https://openalex.org/W2922287039","https://openalex.org/W2968814829","https://openalex.org/W2972610874","https://openalex.org/W2981460880","https://openalex.org/W2997926118","https://openalex.org/W3104753760","https://openalex.org/W3164594912","https://openalex.org/W3164652846","https://openalex.org/W3169814085","https://openalex.org/W3195318120","https://openalex.org/W3196169292","https://openalex.org/W4200509563","https://openalex.org/W4312955962","https://openalex.org/W4319978806","https://openalex.org/W4322742245","https://openalex.org/W4323537431","https://openalex.org/W4380986480","https://openalex.org/W4389941774","https://openalex.org/W6655302790","https://openalex.org/W6749289386","https://openalex.org/W6840426508"],"related_works":["https://openalex.org/W1578916557","https://openalex.org/W1992295166","https://openalex.org/W4295035285","https://openalex.org/W1964286703","https://openalex.org/W2350507978","https://openalex.org/W2143508933","https://openalex.org/W2365475731","https://openalex.org/W2169866437","https://openalex.org/W2016260880","https://openalex.org/W2073372811"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"an":[3,46,49],"obstacle-free":[4,41],"three-dimensional":[5],"(3D)":[6],"path":[7,42,70,74,85,98,106,122,132],"planning":[8],"algorithm":[9],"for":[10,31],"unmanned":[11],"aerial":[12],"vehicles":[13],"(UAV)":[14],"navigating":[15],"in":[16,120,136],"cluttered":[17],"environments.":[18],"Gaussian":[19],"mixture":[20],"model":[21],"(GMM),":[22],"a":[23,36,61,137],"class":[24],"of":[25,95,129,143],"unsupervised":[26],"machine":[27],"learning,":[28],"is":[29,87,108,134],"employed":[30],"environment":[32,139],"perception":[33],"based":[34],"on":[35],"proposed":[37,84,131],"vector":[38],"approach":[39],"to":[40,80,89],"planning.":[43],"GMM":[44],"circumscribes":[45],"obstacle":[47,66],"by":[48,53,64],"ellipsoidal":[50],"surface":[51],"defined":[52],"its":[54],"eigenvectors":[55],"and":[56,93,116,123,147],"eigenvalues.":[57],"These":[58],"eigens":[59],"specify":[60],"region":[62],"occupied":[63],"the":[65,69,73,76,91,130],"so":[67],"that":[68],"planner":[71,86,107,133],"re-routes":[72],"whenever":[75],"UAV":[77],"comes":[78],"closer":[79],"this":[81],"region.":[82],"The":[83,105,127],"verified":[88],"bypass":[90],"challenges":[92],"limitations":[94],"computationally":[96],"lightweight":[97],"planners":[99],"such":[100],"as":[101],"artificial":[102],"potential":[103],"fields.":[104],"also":[109],"compared":[110],"with":[111,141],"rapidly":[112],"exploring":[113],"random":[114],"tree":[115],"shows":[117],"better":[118],"performance":[119,128],"optimal":[121],"low":[124],"computational":[125],"time.":[126],"validated":[135],"simulated":[138],"filled":[140],"obstacles":[142],"various":[144],"sizes,":[145],"shapes,":[146],"orientations.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}