{"id":"https://openalex.org/W2739434881","doi":"https://doi.org/10.1109/icra.2017.7989677","title":"Aggressive 3-D collision avoidance for high-speed navigation","display_name":"Aggressive 3-D collision avoidance for high-speed navigation","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2739434881","doi":"https://doi.org/10.1109/icra.2017.7989677","mag":"2739434881"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989677","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989677","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5079219281","display_name":"Brett T. Lopez","orcid":"https://orcid.org/0000-0001-5366-911X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Brett T. Lopez","raw_affiliation_strings":["Aerospace Controls Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Aerospace Controls Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011665886","display_name":"Jonathan P. How","orcid":"https://orcid.org/0000-0001-8576-1930"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan P. How","raw_affiliation_strings":["Aerospace Controls Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Aerospace Controls Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5079219281"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":4.717,"has_fulltext":false,"cited_by_count":129,"citation_normalized_percentile":{"value":0.96990705,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5759","last_page":"5765"},"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":0.9994999766349792,"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":0.9937000274658203,"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/collision-avoidance","display_name":"Collision avoidance","score":0.8803598880767822},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7030794620513916},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.648405909538269},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6204525232315063},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.550889790058136},{"id":"https://openalex.org/keywords/double-integrator","display_name":"Double integrator","score":0.5025007724761963},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4409904181957245},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4345768094062805},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41767480969429016},{"id":"https://openalex.org/keywords/collision-avoidance-system","display_name":"Collision avoidance system","score":0.4142993688583374},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.391002357006073},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35316479206085205},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3277113735675812},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17087772488594055},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.07266616821289062}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8803598880767822},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7030794620513916},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.648405909538269},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6204525232315063},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.550889790058136},{"id":"https://openalex.org/C2779323837","wikidata":"https://www.wikidata.org/wiki/Q5300045","display_name":"Double integrator","level":3,"score":0.5025007724761963},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4409904181957245},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4345768094062805},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41767480969429016},{"id":"https://openalex.org/C2777016798","wikidata":"https://www.wikidata.org/wiki/Q2001988","display_name":"Collision avoidance system","level":4,"score":0.4142993688583374},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.391002357006073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35316479206085205},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3277113735675812},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17087772488594055},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.07266616821289062},{"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/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.2017.7989677","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989677","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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":23,"referenced_works":["https://openalex.org/W926607442","https://openalex.org/W1531355326","https://openalex.org/W1574514837","https://openalex.org/W1982019931","https://openalex.org/W1999050017","https://openalex.org/W2008277209","https://openalex.org/W2069647917","https://openalex.org/W2133844819","https://openalex.org/W2152864241","https://openalex.org/W2162991084","https://openalex.org/W2171414411","https://openalex.org/W2181845023","https://openalex.org/W2214613866","https://openalex.org/W2214860739","https://openalex.org/W2338687951","https://openalex.org/W2410630689","https://openalex.org/W2414314951","https://openalex.org/W2536620281","https://openalex.org/W2596174801","https://openalex.org/W2886414297","https://openalex.org/W3083074253","https://openalex.org/W6631685650","https://openalex.org/W6714402795"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408","https://openalex.org/W4381746183","https://openalex.org/W2390040493","https://openalex.org/W4253267946","https://openalex.org/W2945385675","https://openalex.org/W2885713887","https://openalex.org/W2983014903"],"abstract_inverted_index":{"Autonomous":[0],"robot":[1],"navigation":[2],"through":[3],"unknown,":[4],"cluttered":[5,134],"environments":[6],"at":[7],"high-speeds":[8],"is":[9,96,108],"still":[10],"an":[11,59,110],"open":[12],"problem.":[13],"Quadrotor":[14],"platforms":[15],"with":[16,24],"this":[17],"capability":[18],"have":[19],"only":[20],"begun":[21],"to":[22,45,124],"emerge":[23],"the":[25,37,52,68,103,116,121],"advancements":[26],"in":[27,132],"light-weight,":[28],"small":[29],"form":[30],"factor":[31],"sensing":[32],"and":[33,62,81,126],"computing.":[34],"Many":[35],"of":[36,102,112],"existing":[38],"platforms,":[39],"however,":[40],"require":[41],"excessive":[42],"computation":[43,69],"time":[44,70],"perform":[46],"collision":[47,77,129],"avoidance,":[48],"which":[49],"ultimately":[50],"limits":[51],"vehicle's":[53],"top":[54],"speed.":[55],"This":[56],"work":[57],"presents":[58],"efficient":[60],"perception":[61,74],"planning":[63],"approach":[64],"that":[65],"significantly":[66],"reduces":[67],"by":[71,88],"using":[72],"instantaneous":[73],"data":[75],"for":[76],"avoidance.":[78],"Minimum-time,":[79],"state":[80],"input":[82],"constrained":[83],"motion":[84],"primitives":[85],"are":[86],"generated":[87],"sampling":[89],"terminal":[90],"states":[91],"until":[92],"a":[93],"collision-free":[94],"path":[95],"found.":[97],"The":[98],"worst":[99],"case":[100],"performance":[101],"Triple":[104],"Integrator":[105],"Planner":[106],"(TIP)":[107],"nearly":[109],"order":[111],"magnitude":[113],"faster":[114],"than":[115],"state-of-the-art.":[117],"Experimental":[118],"results":[119],"demonstrate":[120],"algorithm's":[122],"ability":[123],"plan":[125],"execute":[127],"aggressive":[128],"avoidance":[130],"maneuvers":[131],"highly":[133],"environments.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":23},{"year":2020,"cited_by_count":25},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}