{"id":"https://openalex.org/W2571136637","doi":"https://doi.org/10.1109/cdc.2016.7798647","title":"3D collision avoidance algorithm for Unmanned Aerial Vehicles with limited field of view constraints","display_name":"3D collision avoidance algorithm for Unmanned Aerial Vehicles with limited field of view constraints","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2571136637","doi":"https://doi.org/10.1109/cdc.2016.7798647","mag":"2571136637"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2016.7798647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7798647","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/221469","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021625594","display_name":"Steven Roelofsen","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Steven Roelofsen","raw_affiliation_strings":["Coordination and Interaction System Group, Ecole Polytechnique Federale de Lausanne"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordination and Interaction System Group, Ecole Polytechnique Federale de Lausanne","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080713076","display_name":"Alcherio Martinoli","orcid":"https://orcid.org/0000-0002-5201-7862"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alcherio Martinoli","raw_affiliation_strings":["Distributed Intelligent Systems and Algorithms Laboratory, Ecole Polytechnique Federale de Lausanne"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Distributed Intelligent Systems and Algorithms Laboratory, Ecole Polytechnique Federale de Lausanne","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088211841","display_name":"Denis Gillet","orcid":"https://orcid.org/0000-0002-2570-929X"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Denis Gillet","raw_affiliation_strings":["Coordination and Interaction System Group, Ecole Polytechnique Federale de Lausanne"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordination and Interaction System Group, Ecole Polytechnique Federale de Lausanne","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2555","last_page":"2560"},"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":0.9994999766349792,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9988999962806702,"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/collision-avoidance","display_name":"Collision avoidance","score":0.9124929904937744},{"id":"https://openalex.org/keywords/fixed-wing","display_name":"Fixed wing","score":0.6620961427688599},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.640514612197876},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5708393454551697},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5583260655403137},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.5180783271789551},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4705405831336975},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.43603402376174927},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.43192440271377563},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.41504958271980286},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.41086938977241516},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.32108837366104126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2781085968017578},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22981515526771545},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2068641483783722},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16217026114463806},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.13899916410446167},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.11255291104316711},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1012774109840393},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08166459202766418}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.9124929904937744},{"id":"https://openalex.org/C3018522811","wikidata":"https://www.wikidata.org/wiki/Q2875704","display_name":"Fixed wing","level":3,"score":0.6620961427688599},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.640514612197876},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5708393454551697},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5583260655403137},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.5180783271789551},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4705405831336975},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.43603402376174927},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.43192440271377563},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.41504958271980286},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.41086938977241516},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.32108837366104126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2781085968017578},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22981515526771545},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2068641483783722},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16217026114463806},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.13899916410446167},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.11255291104316711},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1012774109840393},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08166459202766418},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2016.7798647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7798647","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:221469","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/221469","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:221469","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/221469","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1535928210","https://openalex.org/W1602540331","https://openalex.org/W1816154721","https://openalex.org/W1975881114","https://openalex.org/W1996786605","https://openalex.org/W2005087032","https://openalex.org/W2038663511","https://openalex.org/W2049750053","https://openalex.org/W2089692010","https://openalex.org/W2090524302","https://openalex.org/W2096578432","https://openalex.org/W2159786429","https://openalex.org/W2163395004","https://openalex.org/W2167395957","https://openalex.org/W6632248409","https://openalex.org/W6638539618"],"related_works":["https://openalex.org/W3156989303","https://openalex.org/W1588768777","https://openalex.org/W4389214851","https://openalex.org/W2012169833","https://openalex.org/W4381746183","https://openalex.org/W2538666988","https://openalex.org/W2139024087","https://openalex.org/W3110664956","https://openalex.org/W4319597737","https://openalex.org/W2787453464"],"abstract_inverted_index":{"Unmanned":[0],"Aerial":[1],"Vehicles":[2],"(UAVs)":[3],"are":[4,27,133],"becoming":[5],"a":[6,66,75,92,120],"significant":[7],"field":[8,82],"of":[9,25,83,91,129,139],"research":[10],"with":[11,119],"numerous":[12],"applications,":[13,20],"ranging":[14],"from":[15,42,48,88],"mapping":[16],"to":[17,29,105,135],"surveillance.":[18],"New":[19],"such":[21],"as":[22,96],"aerial":[23],"delivery":[24],"goods,":[26],"expected":[28],"appear":[30],"in":[31,56,74],"the":[32,89,115,127,130,137,140],"next":[33],"years":[34],"and":[35,39,108],"will":[36],"require":[37],"more":[38,40],"autonomy":[41],"UAVs.":[43],"One":[44],"challenge":[45],"preventing":[46],"UAVs":[47,72],"being":[49],"fully":[50],"autonomous":[51],"is":[52,117],"their":[53],"current":[54],"limitations":[55],"handling":[57],"potential":[58,103],"collisions":[59],"among":[60],"multiple":[61],"vehicles.":[62],"This":[63],"paper":[64],"presents":[65],"collision":[67,113],"avoidance":[68],"algorithm":[69,101,116],"for":[70,125],"fixed-wing":[71],"navigating":[73],"three":[76],"dimensional":[77],"space.":[78],"It":[79],"satisfies":[80],"limited":[81],"view":[84],"constraints":[85],"that":[86,123],"stem":[87],"use":[90],"single":[93],"camera":[94],"system":[95],"sensing":[97],"device.":[98],"The":[99],"proposed":[100,141],"uses":[102],"fields":[104],"both":[106],"navigate":[107],"avoid":[109],"obstacles.":[110],"To":[111],"guarantee":[112],"avoidance,":[114],"enhanced":[118],"turning":[121],"behavior":[122],"allows":[124],"ensuring":[126],"safety":[128],"method.":[131],"Simulations":[132],"performed":[134],"show":[136],"effectiveness":[138],"algorithm.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":5}],"updated_date":"2026-07-22T05:54:00.624950","created_date":"2025-10-10T00:00:00"}