{"id":"https://openalex.org/W4383066227","doi":"https://doi.org/10.1109/icra48891.2023.10160638","title":"Vision-aided UAV Navigation and Dynamic Obstacle Avoidance using Gradient-based B-spline Trajectory Optimization","display_name":"Vision-aided UAV Navigation and Dynamic Obstacle Avoidance using Gradient-based B-spline Trajectory Optimization","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066227","doi":"https://doi.org/10.1109/icra48891.2023.10160638"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160638","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160638","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5022255218","display_name":"Zhefan Xu","orcid":"https://orcid.org/0000-0002-9395-9549"},"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":"Zhefan Xu","raw_affiliation_strings":["Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073987176","display_name":"Yumeng Xiu","orcid":"https://orcid.org/0009-0008-0103-6925"},"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":"Yumeng Xiu","raw_affiliation_strings":["Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063906127","display_name":"Xiaoyang Zhan","orcid":"https://orcid.org/0009-0007-9805-9172"},"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":"Xiaoyang Zhan","raw_affiliation_strings":["Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036505050","display_name":"Baihan Chen","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":false,"raw_author_name":"Baihan Chen","raw_affiliation_strings":["Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101724128","display_name":"Kenji Shimada","orcid":"https://orcid.org/0000-0001-8827-672X"},"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":"Kenji Shimada","raw_affiliation_strings":["Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.5939,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.9610684,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1214","last_page":"1220"},"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":0.9995999932289124,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9916999936103821,"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/computer-science","display_name":"Computer science","score":0.6976374983787537},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6609783172607422},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6211596727371216},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6146960258483887},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.592846155166626},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5785388350486755},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5179435610771179},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.48398518562316895},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4605850577354431},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41312289237976074},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.38871073722839355}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6976374983787537},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6609783172607422},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6211596727371216},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6146960258483887},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.592846155166626},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5785388350486755},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5179435610771179},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.48398518562316895},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4605850577354431},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41312289237976074},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.38871073722839355},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160638","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160638","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1999131722","https://openalex.org/W2019965290","https://openalex.org/W2099893201","https://openalex.org/W2133844819","https://openalex.org/W2158955701","https://openalex.org/W2162991084","https://openalex.org/W2177274602","https://openalex.org/W2482392012","https://openalex.org/W2607968634","https://openalex.org/W2745859992","https://openalex.org/W2771809894","https://openalex.org/W2909324603","https://openalex.org/W2962787639","https://openalex.org/W2963440325","https://openalex.org/W3004227484","https://openalex.org/W3089858107","https://openalex.org/W3092987314","https://openalex.org/W3102129812","https://openalex.org/W3114626444","https://openalex.org/W3133110313","https://openalex.org/W3134070994","https://openalex.org/W3135067689","https://openalex.org/W3199843468","https://openalex.org/W3205679795","https://openalex.org/W3207227729","https://openalex.org/W4221095669","https://openalex.org/W4318624660","https://openalex.org/W6811152014"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2023024008","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1911254468","https://openalex.org/W1506523185","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W1819938260","https://openalex.org/W2782776446"],"abstract_inverted_index":{"Navigating":[0],"dynamic":[1,58,89,131,160],"environments":[2,161],"requires":[3],"the":[4,30,46,63,75,83,94,102,108,118,134,142],"robot":[5,84],"to":[6,45,85,106,129,140,158],"generate":[7,141],"collision-free":[8,143],"trajectories":[9],"and":[10,57,87,110,147],"actively":[11],"avoid":[12],"moving":[13,120],"obstacles.":[14,115],"Most":[15],"previous":[16],"works":[17],"designed":[18],"path":[19],"planning":[20],"algorithms":[21],"based":[22,92],"on":[23,93],"one":[24],"single":[25],"map":[26,49],"representation,":[27,50],"such":[28],"as":[29],"geometric,":[31],"occupancy,":[32],"or":[33],"ESDF":[34],"map.":[35,96],"Although":[36],"they":[37],"have":[38],"shown":[39],"success":[40],"in":[41,156],"static":[42,56,114],"environments,":[43],"due":[44],"limitation":[47],"of":[48],"those":[51],"methods":[52],"cannot":[53],"reliably":[54],"handle":[55],"obstacles":[59],"simultaneously.":[60],"To":[61],"address":[62],"problem,":[64],"this":[65],"paper":[66],"proposes":[67],"a":[68],"gradient-based":[69],"B-spline":[70],"trajectory":[71],"optimization":[72,99],"algorithm":[73,105],"utilizing":[74],"robot's":[76],"onboard":[77],"vision.":[78],"The":[79,97,145],"depth":[80],"vision":[81],"enables":[82],"track":[86],"represent":[88],"objects":[90],"geometrically":[91],"voxel":[95],"proposed":[98],"first":[100],"adopts":[101],"circle-based":[103],"guide-point":[104],"approximate":[107],"costs":[109],"gradients":[111],"for":[112],"avoiding":[113],"Then,":[116],"with":[117],"vision-detected":[119],"objects,":[121],"our":[122,152],"receding-horizon":[123],"distance":[124],"field":[125],"is":[126,138],"simultaneously":[127],"used":[128],"prevent":[130],"collisions.":[132],"Finally,":[133],"iterative":[135],"re-guide":[136],"strategy":[137],"applied":[139],"trajectory.":[144],"simulation":[146],"physical":[148],"experiments":[149],"prove":[150],"that":[151],"method":[153],"can":[154],"run":[155],"real-time":[157],"navigate":[159],"safely.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":6}],"updated_date":"2026-06-14T07:44:22.658603","created_date":"2025-10-10T00:00:00"}
