{"id":"https://openalex.org/W1610994738","doi":"https://doi.org/10.1109/icinfa.2015.7279378","title":"Sense and collision avoidance of Unmanned Aerial Vehicles using Markov Decision Process and flatness approach","display_name":"Sense and collision avoidance of Unmanned Aerial Vehicles using Markov Decision Process and flatness approach","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1610994738","doi":"https://doi.org/10.1109/icinfa.2015.7279378","mag":"1610994738"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2015.7279378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279378","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101918702","display_name":"Yu Fu","orcid":"https://orcid.org/0000-0001-9202-4314"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yu Fu","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Concordia University, Montreal, Quebec, Canada","Department of Mechanical and Industrial Engineering , Concordia University , Montreal, Quebec, H3G 1M8, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Concordia University, Montreal, Quebec, Canada","institution_ids":["https://openalex.org/I60158472"]},{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering , Concordia University , Montreal, Quebec, H3G 1M8, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084857817","display_name":"Xiang Yu","orcid":"https://orcid.org/0000-0002-9005-3733"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Xiang Yu","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Concordia University, Montreal, Quebec, Canada","Department of Mechanical and Industrial Engineering , Concordia University , Montreal, Quebec, H3G 1M8, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Concordia University, Montreal, Quebec, Canada","institution_ids":["https://openalex.org/I60158472"]},{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering , Concordia University , Montreal, Quebec, H3G 1M8, Canada","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100416422","display_name":"Youmin Zhang","orcid":"https://orcid.org/0000-0002-9731-5943"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]},{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA","CN"],"is_corresponding":false,"raw_author_name":"Youmin Zhang","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Concordia University, Montreal, Quebec, Canada","Department of Information and Control Engineering, Xi'an University of Technology, Shaanxi, 710048, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Concordia University, Montreal, Quebec, Canada","institution_ids":["https://openalex.org/I60158472"]},{"raw_affiliation_string":"Department of Information and Control Engineering, Xi'an University of Technology, Shaanxi, 710048, China","institution_ids":["https://openalex.org/I4210131919"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"714","last_page":"719"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11489","display_name":"Air Traffic Management and Optimization","score":0.9998999834060669,"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/T11489","display_name":"Air Traffic Management and Optimization","score":0.9998999834060669,"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/T12158","display_name":"Guidance and Control Systems","score":0.9994000196456909,"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":0.9991999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.804305374622345},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.6843573451042175},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.6553295850753784},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6548910737037659},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6338326930999756},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5931384563446045},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.5810802578926086},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5183107256889343},{"id":"https://openalex.org/keywords/collision-avoidance-system","display_name":"Collision avoidance system","score":0.49583229422569275},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49344006180763245},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.46186643838882446},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4495592415332794},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.44948679208755493},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3667680323123932},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34779518842697144},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33854764699935913},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2579619884490967},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2281894087791443},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17988047003746033},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.15106770396232605},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14538872241973877},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.06886237859725952}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.804305374622345},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.6843573451042175},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.6553295850753784},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6548910737037659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6338326930999756},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5931384563446045},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.5810802578926086},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5183107256889343},{"id":"https://openalex.org/C2777016798","wikidata":"https://www.wikidata.org/wiki/Q2001988","display_name":"Collision avoidance system","level":4,"score":0.49583229422569275},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49344006180763245},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.46186643838882446},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4495592415332794},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.44948679208755493},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3667680323123932},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34779518842697144},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33854764699935913},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2579619884490967},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2281894087791443},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17988047003746033},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.15106770396232605},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14538872241973877},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.06886237859725952},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2015.7279378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279378","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W643028923","https://openalex.org/W1971996841","https://openalex.org/W2006619020","https://openalex.org/W2073013410","https://openalex.org/W2095633276","https://openalex.org/W2119567691","https://openalex.org/W2121310815","https://openalex.org/W2121863487","https://openalex.org/W2124497430","https://openalex.org/W2127878744","https://openalex.org/W2130543103","https://openalex.org/W2131310337","https://openalex.org/W2147996349","https://openalex.org/W2149815103","https://openalex.org/W2157619424","https://openalex.org/W2163408456","https://openalex.org/W2294100503","https://openalex.org/W2542673510","https://openalex.org/W4214717370","https://openalex.org/W6696705104"],"related_works":["https://openalex.org/W2390040493","https://openalex.org/W4253267946","https://openalex.org/W2983014903","https://openalex.org/W2945385675","https://openalex.org/W1767544057","https://openalex.org/W2153778739","https://openalex.org/W2885713887","https://openalex.org/W2377539543","https://openalex.org/W196290454","https://openalex.org/W2093298662"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,63],"new":[4],"development":[5],"of":[6,55,75],"collision":[7,38],"avoidance":[8,39],"algorithm":[9],"that":[10],"ensures":[11],"an":[12],"Unmanned":[13],"Aerial":[14],"Vehicle":[15],"(UAV)":[16],"can":[17],"avoid":[18],"multiple":[19,32],"intruders":[20],"autonomously.":[21],"Firstly,":[22],"the":[23,31,37,42,48,53,56,65,71,76,82],"Markov":[24],"Decision":[25],"Process":[26],"(MDP)":[27],"based":[28],"approach":[29],"generates":[30],"threats":[33],"resolution":[34],"logic":[35],"for":[36,70],"system.":[40],"Secondly,":[41],"optimal":[43],"trajectory":[44,67],"is":[45,68,79],"smoothed":[46],"by":[47,81],"differential":[49],"flatness":[50],"technique":[51],"where":[52],"constraints":[54],"UAV":[57],"dynamics":[58],"are":[59],"considered.":[60],"In":[61],"such":[62],"way,":[64],"planned":[66],"feasible":[69],"UAV.":[72],"The":[73],"effectiveness":[74],"developed":[77],"scheme":[78],"illustrated":[80],"numerical":[83],"simulation":[84],"studies.":[85]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}