{"id":"https://openalex.org/W7123362941","doi":"https://doi.org/10.1109/cdc57313.2025.11312454","title":"Probabilistic reachability-driven robust trajectory optimization for a multirotor in uncertain environments","display_name":"Probabilistic reachability-driven robust trajectory optimization for a multirotor in uncertain environments","publication_year":2025,"publication_date":"2025-12-09","ids":{"openalex":"https://openalex.org/W7123362941","doi":"https://doi.org/10.1109/cdc57313.2025.11312454"},"language":null,"primary_location":{"id":"doi:10.1109/cdc57313.2025.11312454","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc57313.2025.11312454","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 64th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","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/A5122899345","display_name":"Yutong Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I95674353","display_name":"UCLouvain","ror":"https://ror.org/02495e989","country_code":"BE","type":"education","lineage":["https://openalex.org/I95674353"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Yutong Zhu","raw_affiliation_strings":["UCLouvain,ICTEAM Institute,Louvain-la-Neuve,Belgium,1348"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UCLouvain,ICTEAM Institute,Louvain-la-Neuve,Belgium,1348","institution_ids":["https://openalex.org/I95674353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5122870011","display_name":"Ye Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ye Zhang","raw_affiliation_strings":["Northwestern Polytechnical University,School of Astronautics,Xi&#x2019;an,China,710072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University,School of Astronautics,Xi&#x2019;an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.60385629,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3423","last_page":"3430"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.718500018119812,"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":0.718500018119812,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.12290000170469284,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.03869999945163727,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.8026000261306763},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.603600025177002},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.5922999978065491},{"id":"https://openalex.org/keywords/multirotor","display_name":"Multirotor","score":0.5142999887466431},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5045999884605408},{"id":"https://openalex.org/keywords/robust-optimization","display_name":"Robust optimization","score":0.47519999742507935},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.4413999915122986},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4000000059604645},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.3817000091075897}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.8026000261306763},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6754999756813049},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.603600025177002},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5945000052452087},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.5922999978065491},{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.5142999887466431},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5045999884605408},{"id":"https://openalex.org/C193254401","wikidata":"https://www.wikidata.org/wiki/Q2160088","display_name":"Robust optimization","level":2,"score":0.47519999742507935},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.4413999915122986},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4000000059604645},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3817000091075897},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.3779999911785126},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.36970001459121704},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.35530000925064087},{"id":"https://openalex.org/C32230216","wikidata":"https://www.wikidata.org/wiki/Q7882499","display_name":"Uncertainty quantification","level":2,"score":0.3131999969482422},{"id":"https://openalex.org/C194387892","wikidata":"https://www.wikidata.org/wiki/Q1747770","display_name":"Stochastic optimization","level":2,"score":0.30309998989105225},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.298799991607666},{"id":"https://openalex.org/C24404364","wikidata":"https://www.wikidata.org/wiki/Q7246846","display_name":"Probabilistic analysis of algorithms","level":3,"score":0.2937999963760376},{"id":"https://openalex.org/C137631369","wikidata":"https://www.wikidata.org/wiki/Q7617831","display_name":"Stochastic programming","level":2,"score":0.2815000116825104},{"id":"https://openalex.org/C60782215","wikidata":"https://www.wikidata.org/wiki/Q3333679","display_name":"Probabilistic method","level":3,"score":0.27079999446868896},{"id":"https://openalex.org/C127491075","wikidata":"https://www.wikidata.org/wiki/Q7617825","display_name":"Stochastic modelling","level":2,"score":0.2621999979019165},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2597000002861023},{"id":"https://openalex.org/C8272713","wikidata":"https://www.wikidata.org/wiki/Q176737","display_name":"Stochastic process","level":2,"score":0.25760000944137573},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2547000050544739},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2538999915122986},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc57313.2025.11312454","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc57313.2025.11312454","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 64th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0,86],"paper":[1],"presents":[2],"a":[3,57],"unified":[4],"framework":[5,62],"for":[6],"robust":[7,89],"trajectory":[8,90],"planning":[9,91],"and":[10,26,45,83],"optimization":[11,99],"of":[12],"multirotor":[13],"systems":[14],"in":[15,71,80],"uncertain":[16],"environments,":[17],"addressing":[18],"challenges":[19],"posed":[20],"by":[21,92],"stochastic":[22,75],"disturbances,":[23],"model":[24],"inaccuracies,":[25],"safety-critical":[27],"constraints.":[28],"Traditional":[29],"deterministic":[30],"methods":[31,79],"often":[32],"yield":[33],"overly":[34],"conservative":[35],"solutions,":[36],"while":[37],"existing":[38],"probabilistic":[39,53,94],"approaches":[40],"struggle":[41],"with":[42,56,74,97],"computational":[43,84],"complexity":[44],"scalability.":[46],"To":[47],"bridge":[48],"these":[49],"gaps,":[50],"we":[51],"integrate":[52],"reachability":[54],"analysis":[55],"scenario-based":[58],"convex":[59],"program.":[60],"The":[61],"is":[63],"validated":[64],"through":[65],"numerical":[66],"examples":[67],"demonstrating":[68],"collision-free":[69],"navigation":[70],"cluttered":[72],"environments":[73],"obstacles,":[76],"outperforming":[77],"baseline":[78],"both":[81],"safety":[82,95],"efficiency.":[85],"work":[87],"advances":[88],"harmonizing":[93],"guarantees":[96],"tractable":[98],"under":[100],"uncertainty.":[101]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-01-14T00:00:00"}
