{"id":"https://openalex.org/W4377704944","doi":"https://doi.org/10.1109/icara56516.2023.10125893","title":"UAV- Navigation Using Map Slicing and Safe Path Computation","display_name":"UAV- Navigation Using Map Slicing and Safe Path Computation","publication_year":2023,"publication_date":"2023-02-10","ids":{"openalex":"https://openalex.org/W4377704944","doi":"https://doi.org/10.1109/icara56516.2023.10125893"},"language":"en","primary_location":{"id":"doi:10.1109/icara56516.2023.10125893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara56516.2023.10125893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","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/A5013242301","display_name":"Halil Utku Unlu","orcid":"https://orcid.org/0000-0002-4368-5172"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Halil Utku Unlu","raw_affiliation_strings":["New York University,Electrical & Computer Engineering Department,Brooklyn,NY,USA,11201"],"affiliations":[{"raw_affiliation_string":"New York University,Electrical & Computer Engineering Department,Brooklyn,NY,USA,11201","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010625516","display_name":"Dimitris Chaikalis","orcid":"https://orcid.org/0000-0002-6079-5488"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dimitris Chaikalis","raw_affiliation_strings":["New York University,Electrical & Computer Engineering Department,Brooklyn,NY,USA,11201"],"affiliations":[{"raw_affiliation_string":"New York University,Electrical & Computer Engineering Department,Brooklyn,NY,USA,11201","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040810487","display_name":"\u0391\u03b8\u03b1\u03bd\u03ac\u03c3\u03b9\u03bf\u03c2 \u03a4\u03c3\u03bf\u03c5\u03ba\u03b1\u03bb\u03ac\u03c2","orcid":"https://orcid.org/0000-0001-5834-5405"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Athanasios Tsoukalas","raw_affiliation_strings":["New York University Abu Dhabi,Electrical Engineering Program,Abu Dhabi,UAE,P.O. 129188"],"affiliations":[{"raw_affiliation_string":"New York University Abu Dhabi,Electrical Engineering Program,Abu Dhabi,UAE,P.O. 129188","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048765370","display_name":"Anthony Tzes","orcid":"https://orcid.org/0000-0003-3709-2810"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Anthony Tzes","raw_affiliation_strings":["New York University Abu Dhabi,Electrical Engineering Program,Abu Dhabi,UAE,P.O. 129188","Center for Artificial Intelligence and Robotics, New York University Abu Dhabi, Abu Dhabi, UAE"],"affiliations":[{"raw_affiliation_string":"New York University Abu Dhabi,Electrical Engineering Program,Abu Dhabi,UAE,P.O. 129188","institution_ids":[]},{"raw_affiliation_string":"Center for Artificial Intelligence and Robotics, New York University Abu Dhabi, Abu Dhabi, UAE","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5013242301"],"corresponding_institution_ids":["https://openalex.org/I57206974"],"apc_list":null,"apc_paid":null,"fwci":2.2034,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.88064332,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"208","last_page":"212"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9940000176429749,"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/drone","display_name":"Drone","score":0.7157562375068665},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6411253213882446},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6343314051628113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.549472987651825},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5374665260314941},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4495486319065094},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4353831112384796},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.42028263211250305},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.41275322437286377},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.41061919927597046},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30428269505500793},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.30368077754974365},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26190537214279175},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.10350853204727173}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7157562375068665},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6411253213882446},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6343314051628113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.549472987651825},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5374665260314941},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4495486319065094},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4353831112384796},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.42028263211250305},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.41275322437286377},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.41061919927597046},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30428269505500793},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30368077754974365},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26190537214279175},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.10350853204727173},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icara56516.2023.10125893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara56516.2023.10125893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5899999737739563,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1517411378","https://openalex.org/W1989706283","https://openalex.org/W2066918959","https://openalex.org/W2092280157","https://openalex.org/W2133844819","https://openalex.org/W2463394261","https://openalex.org/W2773972550","https://openalex.org/W2883171824","https://openalex.org/W2898231767","https://openalex.org/W2911098668","https://openalex.org/W2945971134","https://openalex.org/W2981460880","https://openalex.org/W3159126237","https://openalex.org/W3167274156","https://openalex.org/W3189364520","https://openalex.org/W6631015714"],"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/W4379143281","https://openalex.org/W3206445629","https://openalex.org/W2605096541","https://openalex.org/W3200286695"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,19,45,52,100],"concerned":[3],"with":[4],"the":[5,69,74,90,93,107,113,121,126,133,139,144],"safe":[6],"path":[7,84,99,105],"planning":[8],"of":[9,135,143],"a":[10,49,81,103],"drone":[11,18,70,114],"while":[12,36],"exploring":[13],"an":[14,27,32,38,136],"unknown":[15],"space.":[16],"The":[17,42,57,76,97],"localized":[20],"by":[21],"fusing":[22],"measurements":[23],"from":[24,116],"sensors":[25],"including":[26],"IMU,":[28],"RGB-D":[29],"sensor,":[30],"and":[31,48,63,89,141],"optical":[33],"flow":[34],"system,":[35],"executing":[37],"RTAB-Map":[39],"SLAM":[40],"algorithm.":[41],"3D-occupancy":[43],"Octomap":[44],"generated":[46],"online":[47],"slicing":[50],"algorithm":[51],"employed":[53],"to":[54,73,80,125],"compute":[55],"2D-maps.":[56],"maps'":[58],"traversible":[59],"coordinates":[60,124],"are":[61],"identified":[62,108],"used":[64],"as":[65],"potential":[66],"points":[67],"for":[68],"intermediate":[71],"navigation":[72],"destination.":[75],"final":[77],"segment":[78],"corresponds":[79],"shortest":[82],"Chebyshev-length":[83],"between":[85,106],"all":[86],"frontier":[87],"pixels":[88],"endpoint":[91],"over":[92],"unexplored":[94],"map":[95,109,123],"region.":[96],"drone's":[98],"computed":[101],"using":[102,131],"skeletal":[104],"boundaries":[110],"so":[111],"that":[112],"moves":[115],"its":[117],"current":[118],"location":[119],"through":[120],"free":[122],"destination":[127],"point.":[128],"Simulation":[129],"studies":[130],"within":[132],"interior":[134],"apartment":[137],"indicate":[138],"efficiency":[140],"effectiveness":[142],"proposed":[145],"method.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}