{"id":"https://openalex.org/W1603256060","doi":"https://doi.org/10.1109/icra.2015.7138976","title":"Safe trajectory planning for multiple aerial vehicles with Segmentation-adaptive Pseudospectral collocation","display_name":"Safe trajectory planning for multiple aerial vehicles with Segmentation-adaptive Pseudospectral collocation","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1603256060","doi":"https://doi.org/10.1109/icra.2015.7138976","mag":"1603256060"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7138976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7138976","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://idus.us.es/handle//11441/71414","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012797759","display_name":"J. A. Cobano","orcid":"https://orcid.org/0000-0001-5094-6943"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"J. A. Cobano","raw_affiliation_strings":["Robotics, Vision and Control Group, University of Seville, Seville, Spain","Robotics, Vision and Control Group, Engineering School, University of Seville, 41092, Spain"],"affiliations":[{"raw_affiliation_string":"Robotics, Vision and Control Group, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]},{"raw_affiliation_string":"Robotics, Vision and Control Group, Engineering School, University of Seville, 41092, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011621081","display_name":"S. Vera","orcid":"https://orcid.org/0009-0008-3830-7821"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"S. Vera","raw_affiliation_strings":["Robotics, Vision and Control Group, University of Seville, Seville, Spain","Robotics, Vision and Control Group, Engineering School, University of Seville, 41092, Spain"],"affiliations":[{"raw_affiliation_string":"Robotics, Vision and Control Group, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]},{"raw_affiliation_string":"Robotics, Vision and Control Group, Engineering School, University of Seville, 41092, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009151868","display_name":"Guillermo Heredia","orcid":"https://orcid.org/0000-0003-1571-173X"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"G. Heredia","raw_affiliation_strings":["Robotics, Vision and Control Group, University of Seville, Seville, Spain","Robotics, Vision and Control Group, Engineering School, University of Seville, 41092, Spain"],"affiliations":[{"raw_affiliation_string":"Robotics, Vision and Control Group, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]},{"raw_affiliation_string":"Robotics, Vision and Control Group, Engineering School, University of Seville, 41092, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057947815","display_name":"An\u0131\u0301bal Ollero","orcid":"https://orcid.org/0000-0003-2155-2472"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A. Ollero","raw_affiliation_strings":["Robotics, Vision and Control Group, University of Seville, Seville, Spain","Robotics, Vision and Control Group, Engineering School, University of Seville, 41092, Spain"],"affiliations":[{"raw_affiliation_string":"Robotics, Vision and Control Group, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]},{"raw_affiliation_string":"Robotics, Vision and Control Group, Engineering School, University of Seville, 41092, Spain","institution_ids":["https://openalex.org/I79238269"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012797759"],"corresponding_institution_ids":["https://openalex.org/I79238269"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03696755,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"29","last_page":"34"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T11489","display_name":"Air Traffic Management and Optimization","score":0.9986000061035156,"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":0.9958999752998352,"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/collocation","display_name":"Collocation (remote sensing)","score":0.9327318668365479},{"id":"https://openalex.org/keywords/collocation-method","display_name":"Collocation method","score":0.6951673030853271},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6723501682281494},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6004123687744141},{"id":"https://openalex.org/keywords/pseudo-spectral-method","display_name":"Pseudo-spectral method","score":0.5321058034896851},{"id":"https://openalex.org/keywords/gauss-pseudospectral-method","display_name":"Gauss pseudospectral method","score":0.5308324694633484},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5119539499282837},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4613646864891052},{"id":"https://openalex.org/keywords/pseudospectral-optimal-control","display_name":"Pseudospectral optimal control","score":0.4509789049625397},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3586283326148987},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35214805603027344},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26112130284309387},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1379995346069336},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09353098273277283},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.06896030902862549}],"concepts":[{"id":"https://openalex.org/C80023036","wikidata":"https://www.wikidata.org/wiki/Q5147531","display_name":"Collocation (remote sensing)","level":2,"score":0.9327318668365479},{"id":"https://openalex.org/C2126413","wikidata":"https://www.wikidata.org/wiki/Q1779479","display_name":"Collocation method","level":4,"score":0.6951673030853271},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6723501682281494},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6004123687744141},{"id":"https://openalex.org/C177937620","wikidata":"https://www.wikidata.org/wiki/Q7254447","display_name":"Pseudo-spectral method","level":4,"score":0.5321058034896851},{"id":"https://openalex.org/C71026131","wikidata":"https://www.wikidata.org/wiki/Q5527825","display_name":"Gauss pseudospectral method","level":5,"score":0.5308324694633484},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5119539499282837},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4613646864891052},{"id":"https://openalex.org/C154304650","wikidata":"https://www.wikidata.org/wiki/Q7255577","display_name":"Pseudospectral optimal control","level":5,"score":0.4509789049625397},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3586283326148987},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35214805603027344},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26112130284309387},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1379995346069336},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09353098273277283},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.06896030902862549},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.0},{"id":"https://openalex.org/C203024314","wikidata":"https://www.wikidata.org/wiki/Q1365258","display_name":"Fourier analysis","level":3,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C51544822","wikidata":"https://www.wikidata.org/wiki/Q465274","display_name":"Ordinary differential equation","level":3,"score":0.0},{"id":"https://openalex.org/C102519508","wikidata":"https://www.wikidata.org/wiki/Q6520159","display_name":"Fourier transform","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7138976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7138976","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:idus.us.es:11441/71414","is_oa":true,"landing_page_url":"https://idus.us.es/handle//11441/71414","pdf_url":null,"source":{"id":"https://openalex.org/S4306400333","display_name":"idUS (Universidad de Sevilla)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79238269","host_organization_name":"Universidad de Sevilla","host_organization_lineage":["https://openalex.org/I79238269"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:idus.us.es:11441/71414","is_oa":true,"landing_page_url":"https://idus.us.es/handle//11441/71414","pdf_url":null,"source":{"id":"https://openalex.org/S4306400333","display_name":"idUS (Universidad de Sevilla)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79238269","host_organization_name":"Universidad de Sevilla","host_organization_lineage":["https://openalex.org/I79238269"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1980693151","https://openalex.org/W1997186385","https://openalex.org/W2017977027","https://openalex.org/W2023148409","https://openalex.org/W2045419548","https://openalex.org/W2057774317","https://openalex.org/W2086364863","https://openalex.org/W2098536261","https://openalex.org/W2099144379","https://openalex.org/W2117496471","https://openalex.org/W2124455817","https://openalex.org/W2124497430","https://openalex.org/W2145487433","https://openalex.org/W2152618686","https://openalex.org/W2171094617","https://openalex.org/W2323184231","https://openalex.org/W3104753760","https://openalex.org/W4236251699","https://openalex.org/W6674627687"],"related_works":["https://openalex.org/W2550657075","https://openalex.org/W1512809069","https://openalex.org/W2761671048","https://openalex.org/W2357738898","https://openalex.org/W2029764875","https://openalex.org/W2281601070","https://openalex.org/W2143234151","https://openalex.org/W2141229940","https://openalex.org/W2069381275","https://openalex.org/W1603256060"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,172],"method":[4,95,139,176],"called":[5],"Segmentation-adaptive":[6],"Pseudospectral":[7,24],"collocation":[8,25,66,72,103,124,135],"to":[9,85,132,153,181],"address":[10],"the":[11,40,47,51,60,69,75,78,90,97,111,121,127,155,183,186,194,199],"problem":[12,98],"of":[13,71,77,89,123,143,147,185,198],"safe":[14],"trajectory":[15,61],"generation":[16],"in":[17,46,56,59,110,115,167,193],"missions":[18],"with":[19,113,130,174],"cooperating":[20],"multiple":[21,33],"aerial":[22,34,151,196],"vehicles.":[23],"can":[26],"generate":[27],"optimized":[28],"collision-free":[29],"trajectories,":[30,49],"but":[31,81],"for":[32,149,201],"vehicles":[35],"it":[36],"cannot":[37],"guarantee":[38,154],"that":[39],"safety":[41,156],"separation":[42],"distance":[43,157],"is":[44,177],"maintained":[45],"whole":[48],"since":[50],"constraints":[52],"are":[53,107,165],"only":[54,109],"enforced":[55],"discrete":[57],"points":[58,73,104,125],"(collocation":[62],"points).":[63],"Hp-adaptive":[64],"pseudospectral":[65,134],"increases":[67],"iteratively":[68],"number":[70,122],"and":[74,126,145,163],"degree":[76],"approximating":[79],"polynomial,":[80],"this":[82],"may":[83],"lead":[84],"an":[86],"exponential":[87],"increase":[88],"computational":[91,161],"load.":[92],"The":[93,137],"proposed":[94,138],"solves":[96],"by":[99],"selectively":[100],"adding":[101],"new":[102],"where":[105],"they":[106],"needed,":[108],"segments":[112],"conflicts":[114],"each":[116,150],"iteration,":[117],"thus":[118],"effectively":[119],"reducing":[120],"computation":[128],"time":[129],"respect":[131],"other":[133,175],"formulations.":[136],"allows":[140],"both":[141],"changes":[142,146],"speed":[144],"heading":[148],"vehicle":[152],"between":[158],"them.":[159],"Its":[160],"load":[162],"scalability":[164],"studied":[166],"randomly":[168],"generated":[169],"scenarios.":[170],"Moreover,":[171],"comparison":[173],"presented.":[178],"Several":[179],"experiments":[180],"test":[182],"validity":[184],"approach":[187],"have":[188],"been":[189],"also":[190],"carried":[191],"out":[192],"multivehicle":[195],"testbed":[197],"Center":[200],"Advanced":[202],"Aerospace":[203],"Technologies.":[204]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}