{"id":"https://openalex.org/W4406208721","doi":"https://doi.org/10.1109/icarcv63323.2024.10821567","title":"A Gradient-Free and Parallel Hierarchical Motion Planning Framework for Quadrotor Swarm","display_name":"A Gradient-Free and Parallel Hierarchical Motion Planning Framework for Quadrotor Swarm","publication_year":2024,"publication_date":"2024-12-12","ids":{"openalex":"https://openalex.org/W4406208721","doi":"https://doi.org/10.1109/icarcv63323.2024.10821567"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv63323.2024.10821567","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv63323.2024.10821567","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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/A5100601218","display_name":"Xuewei Zhang","orcid":"https://orcid.org/0000-0002-0512-8308"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuewei Zhang","raw_affiliation_strings":["School of Electrical and Information Egineering, Tianjin University,Tianjin,China,300072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Egineering, Tianjin University,Tianjin,China,300072","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056135455","display_name":"Qingzhao Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingzhao Liu","raw_affiliation_strings":["School of Electrical and Information Egineering, Tianjin University,Tianjin,China,300072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Egineering, Tianjin University,Tianjin,China,300072","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100902110","display_name":"Hongyu Cao","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyu Cao","raw_affiliation_strings":["School of Electrical and Information Egineering, Tianjin University,Tianjin,China,300072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Egineering, Tianjin University,Tianjin,China,300072","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003234602","display_name":"Bailing Tian","orcid":"https://orcid.org/0000-0003-1004-8350"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bailing Tian","raw_affiliation_strings":["School of Electrical and Information Egineering, Tianjin University,Tianjin,China,300072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Egineering, Tianjin University,Tianjin,China,300072","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"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":0.23282666,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"351","last_page":"356"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9969000220298767,"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":0.9969000220298767,"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":0.9469000101089478,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9325000047683716,"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/swarm-behaviour","display_name":"Swarm behaviour","score":0.7256535291671753},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6753572225570679},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.612384557723999},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5083341002464294},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3540281653404236},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15530765056610107}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7256535291671753},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6753572225570679},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.612384557723999},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5083341002464294},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3540281653404236},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15530765056610107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv63323.2024.10821567","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv63323.2024.10821567","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.5},{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1489244333","https://openalex.org/W2002440441","https://openalex.org/W2062731992","https://openalex.org/W2116554046","https://openalex.org/W2136207702","https://openalex.org/W2142943472","https://openalex.org/W2584986912","https://openalex.org/W2886374915","https://openalex.org/W2906572333","https://openalex.org/W2999746904","https://openalex.org/W3091037752","https://openalex.org/W3114576772","https://openalex.org/W3183413118","https://openalex.org/W3185455561","https://openalex.org/W3205953818","https://openalex.org/W3207644545","https://openalex.org/W4387448635","https://openalex.org/W4391216232","https://openalex.org/W6755226837"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4288714711","https://openalex.org/W3200708550","https://openalex.org/W2736680465","https://openalex.org/W2771637876","https://openalex.org/W4294093918","https://openalex.org/W4240853094","https://openalex.org/W2810496283"],"abstract_inverted_index":{"Quadrotor":[0],"swarm":[1,29],"with":[2,64,107],"advanced":[3],"coordination":[4],"capabilities":[5],"has":[6],"garnered":[7],"widespread":[8],"attention,":[9],"yet":[10],"efficient":[11],"and":[12,50,61,109,130],"reliable":[13],"motion":[14,24,135],"planning":[15,25,136],"remains":[16],"a":[17,22,39,52,76,79],"challenge.":[18],"This":[19],"paper":[20],"presents":[21],"hierarchical":[23],"framework":[26],"for":[27],"quadrotor":[28],"autonomous":[30],"navigation":[31],"in":[32,46,120],"unknown,":[33],"cluttered":[34],"scenes.":[35],"Specifically,":[36],"we":[37],"take":[38],"step":[40],"forward":[41],"sampling":[42],"of":[43,54,105,132],"multiple":[44],"neighbors":[45],"the":[47,62,65,71,95,113,128,133],"lattice":[48],"graph":[49],"generate":[51],"group":[53],"paths.":[55],"The":[56],"infeasible":[57],"paths":[58],"are":[59],"excluded":[60],"one":[63],"minimum":[66],"cost":[67],"is":[68,91,103,116],"chosen":[69],"from":[70],"remaining.":[72],"Taking":[73],"it":[74,102],"as":[75],"guiding":[77],"path,":[78],"gradient-free":[80],"trajectory":[81],"optimization":[82],"method":[83,115],"based":[84],"on":[85,118],"model":[86],"predictive":[87],"path":[88],"integral":[89],"(MPPI)":[90],"developed":[92],"to":[93,99,122],"produce":[94],"execution":[96],"trajectory.":[97],"Compared":[98],"gradient-descent":[100],"approaches,":[101],"capable":[104],"dealing":[106],"non-continuous":[108],"non-convex":[110],"constraints.":[111],"Additionally,":[112],"proposed":[114,134],"deployed":[117],"GPUs":[119],"parallel":[121],"enhance":[123],"efficiency.":[124],"Extensive":[125],"simulations":[126],"demonstrate":[127],"robustness":[129],"effectiveness":[131],"framework.":[137]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
