{"id":"https://openalex.org/W3090891466","doi":"https://doi.org/10.1109/icra40945.2020.9197195","title":"Online Planning for Quadrotor Teams in 3-D Workspaces via Reachability Analysis On Invariant Geometric Trees","display_name":"Online Planning for Quadrotor Teams in 3-D Workspaces via Reachability Analysis On Invariant Geometric Trees","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090891466","doi":"https://doi.org/10.1109/icra40945.2020.9197195","mag":"3090891466"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197195","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197195","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5034238925","display_name":"Arjav Desai","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Arjav Desai","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017643429","display_name":"Nathan Michael","orcid":"https://orcid.org/0000-0002-3585-9195"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Michael","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5034238925"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.3924,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.62596369,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"8769","last_page":"8775"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9902999997138977,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9866999983787537,"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/reachability","display_name":"Reachability","score":0.9451192021369934},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.9385027885437012},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7833203673362732},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5870317816734314},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5530737042427063},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.54256671667099},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36707618832588196},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34708550572395325},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32403403520584106},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.27102744579315186},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2198101282119751}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.9451192021369934},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9385027885437012},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7833203673362732},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5870317816734314},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5530737042427063},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.54256671667099},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36707618832588196},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34708550572395325},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32403403520584106},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.27102744579315186},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2198101282119751},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9197195","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197195","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"mag:3171629457","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=202002223551715986","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1126974217","https://openalex.org/W1542670833","https://openalex.org/W1992157405","https://openalex.org/W2008277209","https://openalex.org/W2038498300","https://openalex.org/W2071447697","https://openalex.org/W2072127296","https://openalex.org/W2107535513","https://openalex.org/W2112271657","https://openalex.org/W2136207702","https://openalex.org/W2162991084","https://openalex.org/W2165693128","https://openalex.org/W2169528473","https://openalex.org/W2295977886","https://openalex.org/W2574186214","https://openalex.org/W2579451340","https://openalex.org/W2608775622","https://openalex.org/W2787876816","https://openalex.org/W2851283644","https://openalex.org/W2886374915","https://openalex.org/W2912668883","https://openalex.org/W2914296650","https://openalex.org/W2962787639","https://openalex.org/W2963095472","https://openalex.org/W2963497136","https://openalex.org/W2968456578","https://openalex.org/W2969111102","https://openalex.org/W2969277138","https://openalex.org/W2971269667","https://openalex.org/W2987233852","https://openalex.org/W3007871119","https://openalex.org/W4231761304","https://openalex.org/W4288256648","https://openalex.org/W6684528527","https://openalex.org/W6732555561","https://openalex.org/W6766931461","https://openalex.org/W6767554274"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2371519816","https://openalex.org/W2067910792","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2156446763","https://openalex.org/W2329043542","https://openalex.org/W2746645407"],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,27,69,72],"kinodynamic":[3],"multi-robot":[4,28],"planning":[5,77],"problem":[6],"in":[7,86],"cluttered":[8,87],"3-D":[9,88],"workspaces.":[10,89],"Reachability":[11],"analysis":[12],"on":[13],"position":[14],"invariant":[15],"geometric":[16,45],"trees":[17],"is":[18,41],"leveraged":[19],"to":[20],"find":[21],"kino-":[22],"dynamically":[23],"feasible":[24],"trajectories":[25],"for":[26,75,80],"team":[29],"from":[30],"potentially":[31],"non-stationary":[32],"initial":[33],"states.":[34],"The":[35],"key":[36],"contribution":[37],"of":[38,71,83],"our":[39],"approach":[40,74],"that":[42],"a":[43,48],"collision-free":[44],"solution":[46,52],"guarantees":[47],"kinodynamically":[49],"feasible,":[50],"safe":[51],"without":[53],"additional":[54],"refinement.":[55],"Simulation":[56],"results":[57,64],"with":[58,65],"up-to":[59],"40":[60],"robots":[61,67,85],"and":[62,78],"hardware":[63],"5":[66],"suggest":[68],"viability":[70],"proposed":[73],"online":[76],"replanning":[79],"large":[81],"teams":[82],"aerial":[84]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}