{"id":"https://openalex.org/W4242996328","doi":"https://doi.org/10.1109/codit.2017.8102663","title":"Path planning and control of vehicles in 3D environment using unstable modes","display_name":"Path planning and control of vehicles in 3D environment using unstable modes","publication_year":2017,"publication_date":"2017-04-01","ids":{"openalex":"https://openalex.org/W4242996328","doi":"https://doi.org/10.1109/codit.2017.8102663"},"language":"en","primary_location":{"id":"doi:10.1109/codit.2017.8102663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit.2017.8102663","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 4th International Conference on Control, Decision and Information Technologies (CoDIT)","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/A5058732675","display_name":"\u0412\u044f\u0447\u0435\u0441\u043b\u0430\u0432 \u0425\u0430\u0441\u0430\u043d\u043e\u0432\u0438\u0447 \u041f\u0448\u0438\u0445\u043e\u043f\u043e\u0432","orcid":"https://orcid.org/0000-0001-6248-1186"},"institutions":[{"id":"https://openalex.org/I137534880","display_name":"Southern Federal University","ror":"https://ror.org/01tv9ph92","country_code":"RU","type":"education","lineage":["https://openalex.org/I137534880"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"V. Pshikhopov","raw_affiliation_strings":["Department of Robotics and Control Systems, Southern Federal University, Taganrog, Russian Federation"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Control Systems, Southern Federal University, Taganrog, Russian Federation","institution_ids":["https://openalex.org/I137534880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079644229","display_name":"Mikhail Medvedev","orcid":"https://orcid.org/0000-0001-8769-5279"},"institutions":[{"id":"https://openalex.org/I137534880","display_name":"Southern Federal University","ror":"https://ror.org/01tv9ph92","country_code":"RU","type":"education","lineage":["https://openalex.org/I137534880"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"M. Medvedev","raw_affiliation_strings":["Department of Robotics and Control Systems, Southern Federal University, Taganrog, Russian Federation"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Control Systems, Southern Federal University, Taganrog, Russian Federation","institution_ids":["https://openalex.org/I137534880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091547450","display_name":"V. Shibanov","orcid":null},"institutions":[{"id":"https://openalex.org/I137534880","display_name":"Southern Federal University","ror":"https://ror.org/01tv9ph92","country_code":"RU","type":"education","lineage":["https://openalex.org/I137534880"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"V. Shibanov","raw_affiliation_strings":["Department of Robotics and Control Systems, Southern Federal University, Taganrog, Russian Federation"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Control Systems, Southern Federal University, Taganrog, Russian Federation","institution_ids":["https://openalex.org/I137534880"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075390268","display_name":"Igor Shapovalov","orcid":"https://orcid.org/0000-0002-0795-470X"},"institutions":[{"id":"https://openalex.org/I137534880","display_name":"Southern Federal University","ror":"https://ror.org/01tv9ph92","country_code":"RU","type":"education","lineage":["https://openalex.org/I137534880"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"I. O. Shapovalov","raw_affiliation_strings":["Department of Robotics and Control Systems, Southern Federal University, Taganrog, Russian Federation"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Control Systems, Southern Federal University, Taganrog, Russian Federation","institution_ids":["https://openalex.org/I137534880"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5058732675"],"corresponding_institution_ids":["https://openalex.org/I137534880"],"apc_list":null,"apc_paid":null,"fwci":0.182,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.61172282,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"0621","last_page":"0626"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.993399977684021,"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"}},{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9926000237464905,"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/motion-planning","display_name":"Motion planning","score":0.8618839383125305},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6399810910224915},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.602056086063385},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.565678596496582},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5158952474594116},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.4981958866119385},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45848461985588074},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41613057255744934},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3740421533584595},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22553735971450806},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19356101751327515},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12739551067352295}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8618839383125305},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6399810910224915},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.602056086063385},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.565678596496582},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5158952474594116},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.4981958866119385},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45848461985588074},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41613057255744934},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3740421533584595},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22553735971450806},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19356101751327515},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12739551067352295},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit.2017.8102663","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit.2017.8102663","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 4th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321079","display_name":"Russian Foundation for Basic Research","ror":"https://ror.org/02mh1ke95"},{"id":"https://openalex.org/F4320324099","display_name":"Russian Science Foundation","ror":"https://ror.org/03y2gwe85"},{"id":"https://openalex.org/F4320329065","display_name":"Southern Federal University","ror":"https://ror.org/01tv9ph92"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1560270123","https://openalex.org/W1970276631","https://openalex.org/W1986582255","https://openalex.org/W2093803436","https://openalex.org/W2103120971","https://openalex.org/W2122032069","https://openalex.org/W2127617835","https://openalex.org/W2139510388","https://openalex.org/W2142224528","https://openalex.org/W2177274602","https://openalex.org/W2508241150","https://openalex.org/W2509873167","https://openalex.org/W2515498963","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W1904098742","https://openalex.org/W2908094156","https://openalex.org/W3158921809","https://openalex.org/W2389896347","https://openalex.org/W2161428574","https://openalex.org/W4395071568","https://openalex.org/W2359600231","https://openalex.org/W1660309994"],"abstract_inverted_index":{"The":[0,28,53,128],"article":[1],"addresses":[2],"the":[3,35,44,67,71,80,84,90,94,98,110,119,125,142],"problem":[4,31,36,45],"of":[5,37,46,122,130,144],"controlling":[6],"a":[7,21,60,145],"vehicle":[8],"in":[9,49],"an":[10,50,115],"undetermined":[11],"3D":[12],"environment":[13],"with":[14,114],"mobile":[15],"and":[16,26,39,43],"stationary":[17],"obstacles.":[18],"We":[19],"propose":[20],"two-level":[22],"system":[23,72,85,100],"performing":[24],"planning":[25,30,38,48],"path-following.":[27],"path":[29,55,65,92],"is":[32,56,86,101],"split":[33],"into":[34],"following":[40],"global":[41,54,68,91],"paths-missions":[42],"local":[47,64],"obstructed":[51],"area.":[52],"built":[57],"based":[58],"on":[59,79],"priory":[61],"information.":[62],"A":[63],"corrects":[66],"one":[69],"if":[70],"detects":[73],"obstacles":[74,105],"that":[75,88],"are":[76,134,139],"not":[77],"presented":[78,140],"map.":[81],"At":[82],"first,":[83],"proposed":[87],"follows":[89],"at":[93,109,124],"controller":[95],"level.":[96,127],"Secondly,":[97],"hybrid":[99],"introduced.":[102],"It":[103],"avoids":[104],"using":[106,141],"unstable":[107,132],"modes":[108,133],"lower":[111],"level":[112],"together":[113],"intelligent":[116],"algorithm":[117],"determining":[118],"desired":[120],"direction":[121],"detour":[123],"top":[126],"techniques":[129],"introducing":[131],"analyzed.":[135],"Numerical":[136],"modeling":[137],"results":[138],"example":[143],"hexacopter":[146],"control":[147],"system.":[148]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}