{"id":"https://openalex.org/W1543333468","doi":"https://doi.org/10.1109/cdc.2002.1184695","title":"Optimal path planning for unmanned air vehicles with kinematic and tactical constraints","display_name":"Optimal path planning for unmanned air vehicles with kinematic and tactical constraints","publication_year":2003,"publication_date":"2003-08-27","ids":{"openalex":"https://openalex.org/W1543333468","doi":"https://doi.org/10.1109/cdc.2002.1184695","mag":"1543333468"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2002.1184695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1184695","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 41st IEEE Conference on Decision and Control, 2002.","raw_type":"proceedings-article"},"type":"conference-paper","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/A5075315497","display_name":"Guang Yang","orcid":"https://orcid.org/0000-0003-4531-5543"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guang Yang","raw_affiliation_strings":["Department of Mechanical, AeroSpace, and Manufacturing Engineering, Polytechnic University, Brooklyn, NY, USA","Dept. of Mech., Aerosp., & Manuf. Eng., Polytech. Univ. Brooklyn, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, AeroSpace, and Manufacturing Engineering, Polytechnic University, Brooklyn, NY, USA","institution_ids":[]},{"raw_affiliation_string":"Dept. of Mech., Aerosp., & Manuf. Eng., Polytech. Univ. Brooklyn, NY, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025338837","display_name":"Vikram Kapila","orcid":"https://orcid.org/0000-0001-5994-256X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"V. Kapila","raw_affiliation_strings":["Department of Mechanical, AeroSpace, and Manufacturing Engineering, Polytechnic University, Brooklyn, NY, USA","Dept. of Mech., Aerosp., & Manuf. Eng., Polytech. Univ. Brooklyn, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, AeroSpace, and Manufacturing Engineering, Polytechnic University, Brooklyn, NY, USA","institution_ids":[]},{"raw_affiliation_string":"Dept. of Mech., Aerosp., & Manuf. Eng., Polytech. Univ. Brooklyn, NY, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.8751,"has_fulltext":false,"cited_by_count":169,"citation_normalized_percentile":{"value":0.97083719,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"2","issue":null,"first_page":"1301","last_page":"1306"},"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":0.9973000288009644,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9955000281333923,"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/kinematics","display_name":"Kinematics","score":0.8401023745536804},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8384606838226318},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7146437764167786},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5980173945426941},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5968889594078064},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5933297276496887},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5822790265083313},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.547373354434967},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5301687717437744},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.43363502621650696},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3960857391357422},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28530293703079224},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2767986059188843},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2678869366645813},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1278659999370575},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10559052228927612}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8401023745536804},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8384606838226318},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7146437764167786},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5980173945426941},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5968889594078064},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5933297276496887},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5822790265083313},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.547373354434967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5301687717437744},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.43363502621650696},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3960857391357422},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28530293703079224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2767986059188843},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2678869366645813},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1278659999370575},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10559052228927612},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2002.1184695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1184695","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 41st IEEE Conference on Decision and Control, 2002.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W2078980743","https://openalex.org/W2118425327","https://openalex.org/W2148801186","https://openalex.org/W2167681111","https://openalex.org/W2313274380"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691","https://openalex.org/W2050548713","https://openalex.org/W4380590094"],"abstract_inverted_index":{"We":[0],"consider":[1],"a":[2,45],"class":[3,25,39],"of":[4,21,40,72,108],"2D":[5],"optimal":[6,23,41,66,93],"path-planning":[7,42],"problems":[8,43,59],"for":[9,65],"unmanned":[10],"air":[11],"vehicles":[12],"(UAVs)":[13],"with":[14],"kinematic":[15,29],"and":[16,31,56],"tactical":[17,50,73,99],"constraints.":[18,100],"The":[19,91],"existence":[20],"an":[22],"path":[24,67,94],"satisfying":[26],"the":[27,70,88,106],"UAV":[28],"constraints":[30,51,74],"vector":[32],"calculus":[33],"are":[34,60],"exploited":[35],"to":[36,44,86],"reduce":[37],"this":[38],"parameter":[46],"optimization":[47],"problem.":[48],"Illustrative":[49],"arising":[52],"in":[53,69],"target":[54],"touring":[55],"obstacle":[57],"avoidance":[58],"considered.":[61],"A":[62],"necessary":[63],"condition":[64],"planning":[68],"presence":[71],"is":[75,84],"characterized..":[76],"An":[77,101],"efficient":[78],"numerical":[79,103],"algorithm":[80],"using":[81],"simulated":[82],"dynamics":[83],"developed":[85],"enforce":[87],"optimality":[89],"criterion.":[90],"proposed":[92],"planner":[95],"can":[96],"handle":[97],"multiple":[98],"illustrative":[102],"simulation":[104],"demonstrates":[105],"efficacy":[107],"our":[109],"approach.":[110]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":8}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}