{"id":"https://openalex.org/W2890926967","doi":"https://doi.org/10.1109/icra.2018.8463188","title":"Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization","display_name":"Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890926967","doi":"https://doi.org/10.1109/icra.2018.8463188","mag":"2890926967"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8463188","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8463188","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1903.01139","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102769588","display_name":"Wenchao Ding","orcid":"https://orcid.org/0000-0003-4249-526X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wenchao Ding","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101406736","display_name":"Wenliang Gao","orcid":"https://orcid.org/0000-0002-8031-3482"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wenliang Gao","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100619525","display_name":"Kaixuan Wang","orcid":"https://orcid.org/0000-0001-9210-0233"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kaixuan Wang","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001947944","display_name":"Shaojie Shen","orcid":"https://orcid.org/0000-0002-5573-2909"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shaojie Shen","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":1.5945,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.91329394,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7595","last_page":"7602"},"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":0.9994000196456909,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/trajectory","display_name":"Trajectory","score":0.7810935974121094},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6442884802818298},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.43097883462905884},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3720472455024719},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19865939021110535},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.04859068989753723}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7810935974121094},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6442884802818298},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.43097883462905884},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3720472455024719},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19865939021110535},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.04859068989753723},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2018.8463188","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8463188","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1903.01139","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.01139","pdf_url":"https://arxiv.org/pdf/1903.01139","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-93053","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-93053","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"},{"id":"pmh:oai:repository.ust.hk:1783.1-93053","is_oa":false,"landing_page_url":"http://gateway.isiknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=LinksAMR&SrcApp=PARTNER_APP&DestLinkType=FullRecord&DestApp=WOS&KeyUT=000446394505112","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference paper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1903.01139","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.01139","pdf_url":"https://arxiv.org/pdf/1903.01139","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1605218591","https://openalex.org/W1968582771","https://openalex.org/W2011766558","https://openalex.org/W2054585537","https://openalex.org/W2118448675","https://openalex.org/W2156852101","https://openalex.org/W2162991084","https://openalex.org/W2317831939","https://openalex.org/W2482392012","https://openalex.org/W2587415290","https://openalex.org/W2745859992","https://openalex.org/W2890926967","https://openalex.org/W2962963952","https://openalex.org/W2963497136","https://openalex.org/W3102365391","https://openalex.org/W4255045719","https://openalex.org/W6664169022","https://openalex.org/W6695664954","https://openalex.org/W6733397138","https://openalex.org/W6744272454"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2361427670","https://openalex.org/W2139910871","https://openalex.org/W2119925415"],"abstract_inverted_index":{"We":[0,22,145,171],"focus":[1],"on":[2,152],"a":[3,24,34,64,92,103,138,147,177],"replanning":[4,174],"scenario":[5],"for":[6],"quadrotors":[7],"where":[8],"considering":[9],"time":[10],"efficiency,":[11],"non-static":[12,72],"initial":[13,73],"state":[14,74],"and":[15,43,62,87,181],"dynamical":[16],"feasibility":[17],"is":[18,60,169],"of":[19,54,75,83,157,162],"great":[20],"significance.":[21],"propose":[23],"real-time":[25],"B-spline":[26,55],"based":[27,151],"kinodynamic":[28,48],"(RBK)":[29],"search":[30,38,59,86],"algorithm,":[31],"which":[32,70,131],"transforms":[33],"position-only":[35],"shortest":[36],"path":[37],"(such":[39],"as":[40,102],"A":[41,159],"*":[42],"Dijkstra)":[44],"into":[45],"an":[46,97,127],"efficient":[47],"search,":[49],"by":[50,91,113,136],"exploring":[51],"the":[52,76,81,84,88,108,114,121,133,153],"properties":[53],"parameterization.":[56],"The":[57,117],"RBK":[58,115],"greedy":[61,85],"produces":[63],"dynamically":[65],"feasible":[66],"time-parameterized":[67],"trajectory":[68],"efficiently,":[69],"facilitates":[71],"quadrotor.":[77],"To":[78],"cope":[79],"with":[80,176],"limitation":[82],"discretization":[89],"induced":[90],"grid":[93],"structure,":[94],"we":[95],"adopt":[96],"elastic":[98,129],"optimization":[99],"(EO)":[100],"approach":[101,119],"post-optimization":[104],"process,":[105],"to":[106],"refine":[107],"control":[109,123,155],"point":[110,124],"placement":[111,125],"provided":[112],"search.":[116],"EO":[118],"finds":[120],"optimal":[122],"inside":[126],"expanded":[128],"tube":[130],"represents":[132],"free":[134],"space,":[135],"solving":[137],"Quadratically":[139],"Constrained":[140],"Quadratic":[141],"Programming":[142],"(QCQP)":[143],"problem.":[144],"design":[146],"receding":[148],"horizon":[149],"replanner":[150],"local":[154],"property":[156],"B-spline.":[158],"systematic":[160],"comparison":[161],"our":[163,173,183],"method":[164],"against":[165],"two":[166],"state-of-the-art":[167],"methods":[168],"provided.":[170],"integrate":[172],"system":[175],"monocular":[178],"vision-based":[179],"quadrotor":[180],"validate":[182],"performance":[184],"onboard.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":1}],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2018-09-27T00:00:00"}
