{"id":"https://openalex.org/W4220820098","doi":"https://doi.org/10.1109/amc51637.2022.9729264","title":"Multi-stage Optimal Control Problem Formulation for Drone Racing Through Gates and Tunnels","display_name":"Multi-stage Optimal Control Problem Formulation for Drone Racing Through Gates and Tunnels","publication_year":2022,"publication_date":"2022-02-18","ids":{"openalex":"https://openalex.org/W4220820098","doi":"https://doi.org/10.1109/amc51637.2022.9729264"},"language":"en","primary_location":{"id":"doi:10.1109/amc51637.2022.9729264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc51637.2022.9729264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 17th International Conference on Advanced Motion Control (AMC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lirias.kuleuven.be/handle/20.500.12942/688850","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029587852","display_name":"Mathias Bos","orcid":"https://orcid.org/0000-0002-5471-6691"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Mathias Bos","raw_affiliation_strings":["MECO Research Team, KU Leuven,Department of Mechanical Engineering,Belgium","Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium","DMMS lab, Flanders Make, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-5471-6691","affiliations":[{"raw_affiliation_string":"MECO Research Team, KU Leuven,Department of Mechanical Engineering,Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"DMMS lab, Flanders Make, Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009275320","display_name":"Wilm Decr\u00e9","orcid":"https://orcid.org/0000-0002-9724-8103"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Wilm Decre","raw_affiliation_strings":["MECO Research Team, KU Leuven,Department of Mechanical Engineering,Belgium","Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium","DMMS lab, Flanders Make, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MECO Research Team, KU Leuven,Department of Mechanical Engineering,Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"DMMS lab, Flanders Make, Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021674650","display_name":"Jan Swevers","orcid":"https://orcid.org/0000-0003-2034-5519"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Jan Swevers","raw_affiliation_strings":["MECO Research Team, KU Leuven,Department of Mechanical Engineering,Belgium","DMMS lab, Flanders Make, Leuven, Belgium","Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MECO Research Team, KU Leuven,Department of Mechanical Engineering,Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"DMMS lab, Flanders Make, Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480"]},{"raw_affiliation_string":"Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061080337","display_name":"Goele Pipeleers","orcid":"https://orcid.org/0000-0003-1849-809X"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Goele Pipeleers","raw_affiliation_strings":["MECO Research Team, KU Leuven,Department of Mechanical Engineering,Belgium","DMMS lab, Flanders Make, Leuven, Belgium","Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MECO Research Team, KU Leuven,Department of Mechanical Engineering,Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"DMMS lab, Flanders Make, Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480"]},{"raw_affiliation_string":"Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5029587852"],"corresponding_institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"],"apc_list":null,"apc_paid":null,"fwci":0.4082,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.57978004,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T12158","display_name":"Guidance and Control Systems","score":0.9987999796867371,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9954000115394592,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.9255967736244202},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.6228801012039185},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6168050765991211},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5875338315963745},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5765329003334045},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5475032925605774},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4571206271648407},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4233388304710388},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.42188534140586853},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3432757258415222},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3284444510936737},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.28921976685523987},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18939587473869324},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17936190962791443}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.9255967736244202},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.6228801012039185},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6168050765991211},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5875338315963745},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5765329003334045},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5475032925605774},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4571206271648407},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4233388304710388},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.42188534140586853},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3432757258415222},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3284444510936737},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.28921976685523987},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18939587473869324},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17936190962791443},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/amc51637.2022.9729264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc51637.2022.9729264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 17th International Conference on Advanced Motion Control (AMC)","raw_type":"proceedings-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/688850","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/688850","pdf_url":null,"source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 IEEE 17th International Conference on Advanced Motion Control (AMC), Padova, Italy, 18-20 February 2022","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/688850","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/688850","pdf_url":null,"source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 IEEE 17th International Conference on Advanced Motion Control (AMC), Padova, Italy, 18-20 February 2022","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1582919213","https://openalex.org/W2087131289","https://openalex.org/W2142424817","https://openalex.org/W2162991084","https://openalex.org/W2418368699","https://openalex.org/W2753710570","https://openalex.org/W2767401161","https://openalex.org/W2805078921","https://openalex.org/W2842089854","https://openalex.org/W2912243751","https://openalex.org/W2967464230","https://openalex.org/W3040334549","https://openalex.org/W3116846198","https://openalex.org/W3209686898","https://openalex.org/W4206742276","https://openalex.org/W6787280293","https://openalex.org/W6787929366","https://openalex.org/W6792175066","https://openalex.org/W7065631163"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W2059768187","https://openalex.org/W4247925126","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4327774218","https://openalex.org/W3206445629","https://openalex.org/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W34626325"],"abstract_inverted_index":{"Finding":[0],"a":[1,9,18,46,52,59,95],"time-optimal":[2],"trajectory":[3],"through":[4,51,83],"gates":[5,55,73],"and":[6,39,100],"tunnels":[7],"is":[8,88],"difficult":[10],"challenge":[11],"in":[12,17,67],"autonomous":[13,20],"drone":[14,49,64],"racing,":[15],"especially":[16],"fully":[19],"context":[21],"where":[22],"the":[23,41,63,72,76,84,102],"computations":[24],"are":[25],"all":[26],"performed":[27],"onboard.":[28],"This":[29],"paper":[30],"presents":[31],"an":[32],"optimal":[33],"control":[34],"problem":[35,44],"formulation":[36,87],"to":[37,81,90,104],"represent":[38],"solve":[40],"motion":[42],"planning":[43],"for":[45,94,108],"multi":[47],"rotor":[48],"racing":[50],"series":[53],"of":[54,69,97],"or":[56,70],"tunnels,":[57],"without":[58],"priori":[60],"knowledge":[61],"about":[62,75],"pose":[65],"right":[66],"front":[68],"behind":[71],"nor":[74],"exact":[77],"time":[78],"instance":[79],"when":[80],"pass":[82],"gates.":[85],"The":[86],"shown":[89],"produce":[91],"feasible":[92],"trajectories":[93],"set":[96],"handcrafted":[98],"configurations,":[99],"has":[101],"potential":[103],"be":[105],"fast":[106],"enough":[107],"online":[109],"replanning":[110],"purposes.":[111]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}