{"id":"https://openalex.org/W2136207702","doi":"https://doi.org/10.1109/icra.2012.6225009","title":"Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams","display_name":"Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2136207702","doi":"https://doi.org/10.1109/icra.2012.6225009","mag":"2136207702"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225009","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225009","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5000538640","display_name":"Daniel Mellinger","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Mellinger","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","Department of Mechanical Engineering and Applied Mechanics, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025925825","display_name":"Alex Kushleyev","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex Kushleyev","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","Department of Electrical and Systems Engineering. University of Pennsylvania, Philadelphia, 19104, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Department of Electrical and Systems Engineering. University of Pennsylvania, Philadelphia, 19104, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","Department of Mechanical Engineering and Applied Mechanics, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.7175,"has_fulltext":false,"cited_by_count":279,"citation_normalized_percentile":{"value":0.98500476,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"477","last_page":"483"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9869999885559082,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/integer","display_name":"Integer (computer science)","score":0.8143390417098999},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.7486185431480408},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7455880045890808},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7163746356964111},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5844302773475647},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5728786587715149},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5575456023216248},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.5284777879714966},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4295242428779602},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4230373501777649},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4214925169944763},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3822864592075348},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2797068655490875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17775383591651917},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15990003943443298},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0564674437046051}],"concepts":[{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.8143390417098999},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.7486185431480408},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7455880045890808},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7163746356964111},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5844302773475647},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5728786587715149},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5575456023216248},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.5284777879714966},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4295242428779602},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4230373501777649},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4214925169944763},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3822864592075348},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2797068655490875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17775383591651917},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15990003943443298},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0564674437046051},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6225009","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225009","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1601512022","https://openalex.org/W1969160376","https://openalex.org/W2065894019","https://openalex.org/W2087269417","https://openalex.org/W2095817904","https://openalex.org/W2111451384","https://openalex.org/W2114396319","https://openalex.org/W2120062331","https://openalex.org/W2137670671","https://openalex.org/W2142424817","https://openalex.org/W2148878340","https://openalex.org/W2154839625","https://openalex.org/W2161076907","https://openalex.org/W2162991084","https://openalex.org/W2296356821","https://openalex.org/W3144742656","https://openalex.org/W4230684301","https://openalex.org/W6635932078","https://openalex.org/W6683620479","https://openalex.org/W6697528359"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W4308259661","https://openalex.org/W2047683846","https://openalex.org/W2044902158","https://openalex.org/W2109912052","https://openalex.org/W1711527768","https://openalex.org/W2769507352"],"abstract_inverted_index":{"We":[0,20],"present":[1],"an":[2],"algorithm":[3],"for":[4,10,42],"the":[5,22,30,56],"generation":[6],"of":[7,12,61],"optimal":[8],"trajectories":[9,80],"teams":[11,60],"heterogeneous":[13],"quadrotors":[14,65],"in":[15,77,81],"three-dimensional":[16,82],"environments":[17,83],"with":[18,84,86],"obstacles.":[19],"formulate":[21],"problem":[23],"using":[24],"mixed-integer":[25],"quadratic":[26],"programs":[27],"(MIQPs)":[28],"where":[29],"integer":[31],"constraints":[32],"are":[33],"used":[34],"to":[35,59,63,69,74],"enforce":[36],"collision":[37],"avoidance.":[38],"The":[39],"method":[40,57],"allows":[41],"different":[43,51],"sizes,":[44],"capabilities,":[45],"and":[46,72],"varying":[47],"dynamic":[48],"effects":[49],"between":[50],"quadrotors.":[52],"Experimental":[53],"results":[54],"illustrate":[55],"applied":[58],"up":[62],"four":[64],"ranging":[66],"from":[67],"65":[68],"962":[70],"grams":[71],"21":[73],"67":[75],"cm":[76],"width":[78],"following":[79],"obstacles":[85],"accelerations":[87],"approaching":[88],"1g.":[89]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":26},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":36},{"year":2020,"cited_by_count":39},{"year":2019,"cited_by_count":20},{"year":2018,"cited_by_count":19},{"year":2017,"cited_by_count":29},{"year":2016,"cited_by_count":21},{"year":2015,"cited_by_count":14},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}