{"id":"https://openalex.org/W2146232918","doi":"https://doi.org/10.1109/icra.2011.5979535","title":"Mapping and path planning in complex environments: An obstacle avoidance approach for an unmanned helicopter","display_name":"Mapping and path planning in complex environments: An obstacle avoidance approach for an unmanned helicopter","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2146232918","doi":"https://doi.org/10.1109/icra.2011.5979535","mag":"2146232918"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979535","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979535","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5021056209","display_name":"Franz Andert","orcid":"https://orcid.org/0000-0002-1638-7735"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Franz Andert","raw_affiliation_strings":["Institute of Flight Systems, German Aerospace Center, Brunswick, Germany","German Aerospace Center (DLR), Institute of Flight Systems, 38108 Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Flight Systems, German Aerospace Center, Brunswick, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Flight Systems, 38108 Braunschweig, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032880653","display_name":"Florian\u2010Michael Adolf","orcid":"https://orcid.org/0000-0001-5516-8001"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Adolf","raw_affiliation_strings":["Institute of Flight Systems, German Aerospace Center, Brunswick, Germany","German Aerospace Center (DLR), Institute of Flight Systems, 38108 Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Flight Systems, German Aerospace Center, Brunswick, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Flight Systems, 38108 Braunschweig, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012329409","display_name":"Lukas Goormann","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lukas Goormann","raw_affiliation_strings":["Institute of Flight Systems, German Aerospace Center, Brunswick, Germany","German Aerospace Center (DLR), Institute of Flight Systems, 38108 Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Flight Systems, German Aerospace Center, Brunswick, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Flight Systems, 38108 Braunschweig, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024905909","display_name":"J\u00f6rg Dittrich","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jorg Dittrich","raw_affiliation_strings":["Institute of Flight Systems, German Aerospace Center, Brunswick, Germany","German Aerospace Center (DLR), Institute of Flight Systems, 38108 Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Flight Systems, German Aerospace Center, Brunswick, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Flight Systems, 38108 Braunschweig, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":2.06,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.89641267,"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":"745","last_page":"750"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8941894173622131},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.829444169998169},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7871919870376587},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6819102764129639},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6597837209701538},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.623598039150238},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6089017987251282},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.604169487953186},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5714741945266724},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5403634905815125},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5128593444824219},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4966927170753479},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4857788383960724},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.4688587784767151},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4545946419239044},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.436884343624115},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.40345117449760437},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27440112829208374},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09342202544212341},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07127472758293152},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07019928097724915}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8941894173622131},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.829444169998169},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7871919870376587},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6819102764129639},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6597837209701538},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.623598039150238},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6089017987251282},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.604169487953186},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5714741945266724},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5403634905815125},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5128593444824219},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4966927170753479},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4857788383960724},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.4688587784767151},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4545946419239044},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.436884343624115},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.40345117449760437},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27440112829208374},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09342202544212341},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07127472758293152},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07019928097724915},{"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/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2011.5979535","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979535","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:69831","is_oa":false,"landing_page_url":"https://elib.dlr.de/69831/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5400000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W125167016","https://openalex.org/W186368422","https://openalex.org/W198732646","https://openalex.org/W1586173270","https://openalex.org/W1969483458","https://openalex.org/W1980514663","https://openalex.org/W1989125340","https://openalex.org/W1990568201","https://openalex.org/W1992620155","https://openalex.org/W2017527868","https://openalex.org/W2019586060","https://openalex.org/W2055206265","https://openalex.org/W2104171123","https://openalex.org/W2126555018","https://openalex.org/W2129314290","https://openalex.org/W2134475023","https://openalex.org/W2154444440","https://openalex.org/W2155195832","https://openalex.org/W2157105716","https://openalex.org/W2158207287","https://openalex.org/W2160328285","https://openalex.org/W4246226690","https://openalex.org/W6608150121","https://openalex.org/W6634982934","https://openalex.org/W6675438335","https://openalex.org/W6682911943"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2531604492","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2624388109","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2083162627"],"abstract_inverted_index":{"This":[0,45],"paper":[1,115],"presents":[2],"an":[3,11,33],"obstacle":[4,108],"avoidance":[5,111],"method":[6,122],"that":[7,55,96],"is":[8,30,49,90,101],"performed":[9],"with":[10,17],"unmanned":[12,79],"helicopter.":[13],"The":[14,72],"approach":[15],"begins":[16],"a":[18,40,52,59,82,97],"mapping":[19],"step":[20],"where":[21],"information":[22],"from":[23],"sensor":[24],"data":[25],"about":[26],"previously":[27],"unknown":[28],"dangers":[29],"extracted":[31],"into":[32,39],"occupancy":[34],"grid":[35],"and":[36,57,81,110],"eventually":[37],"converted":[38],"polygonal":[41],"3D":[42,60],"world":[43],"model.":[44],"continuously":[46],"updating":[47],"map":[48],"used":[50],"by":[51],"path":[53],"planner":[54],"generates":[56],"updates":[58],"trajectory":[61],"guiding":[62],"the":[63,69,86,114,117,120],"vehicle":[64],"through":[65],"safe":[66],"passages":[67],"around":[68],"detected":[70],"objects.":[71],"algorithms":[73],"are":[74],"generic":[75],"but":[76],"optimized":[77],"for":[78,104],"aircraft":[80],"stereo":[83],"camera":[84],"as":[85],"environmental":[87],"sensor.":[88],"Computation":[89],"fully":[91],"executed":[92],"on":[93],"board":[94],"so":[95],"ground":[98],"control":[99],"station":[100],"only":[102],"needed":[103],"supervision.":[105],"With":[106],"successful":[107],"detection":[109],"flight":[112],"tests,":[113],"shows":[116],"qualification":[118],"of":[119],"presented":[121],"under":[123],"real":[124],"operational":[125],"conditions.":[126]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}