{"id":"https://openalex.org/W4383109145","doi":"https://doi.org/10.1109/icra48891.2023.10161365","title":"Obstacle avoidance using Raycasting and Riemannian Motion Policies at kHz rates for MAVs","display_name":"Obstacle avoidance using Raycasting and Riemannian Motion Policies at kHz rates for MAVs","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109145","doi":"https://doi.org/10.1109/icra48891.2023.10161365"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161365","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/A5032693392","display_name":"Michael Pantic","orcid":"https://orcid.org/0000-0002-2410-5152"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Michael Pantic","raw_affiliation_strings":["ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051963143","display_name":"Isar Meijer","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Isar Meijer","raw_affiliation_strings":["ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016428544","display_name":"Rik B\u00e4hnemann","orcid":"https://orcid.org/0000-0002-2548-7746"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rik B\u00e4hnemann","raw_affiliation_strings":["ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016454035","display_name":"Nikhilesh Alatur","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nikhilesh Alatur","raw_affiliation_strings":["ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014501729","display_name":"Olov Andersson","orcid":"https://orcid.org/0000-0001-7248-1112"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Olov Andersson","raw_affiliation_strings":["ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063529163","display_name":"C\u00e9sar Cadena","orcid":"https://orcid.org/0000-0002-2972-6011"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cesar Cadena","raw_affiliation_strings":["ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033725695","display_name":"Lionel Ott","orcid":"https://orcid.org/0000-0001-6554-0575"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lionel Ott","raw_affiliation_strings":["ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5032693392"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9662,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.92841632,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9957000017166138,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7868791818618774},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7055970430374146},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.571306049823761},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5403078198432922},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5369071960449219},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5144863128662109},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4859253466129303},{"id":"https://openalex.org/keywords/parallelizable-manifold","display_name":"Parallelizable manifold","score":0.4721377491950989},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.43866002559661865},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3927818834781647},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3921108841896057},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3436322808265686},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2881837487220764},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08832669258117676}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7868791818618774},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7055970430374146},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.571306049823761},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5403078198432922},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5369071960449219},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5144863128662109},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4859253466129303},{"id":"https://openalex.org/C148047603","wikidata":"https://www.wikidata.org/wiki/Q1014612","display_name":"Parallelizable manifold","level":2,"score":0.4721377491950989},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.43866002559661865},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3927818834781647},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3921108841896057},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3436322808265686},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2881837487220764},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08832669258117676},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161365","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161365","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":[{"id":"https://metadata.un.org/sdg/11","score":0.7699999809265137,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1493644597","https://openalex.org/W1971086298","https://openalex.org/W2008055107","https://openalex.org/W2098536261","https://openalex.org/W2104332709","https://openalex.org/W2133844819","https://openalex.org/W2158955701","https://openalex.org/W2161819990","https://openalex.org/W2607968634","https://openalex.org/W2771926486","https://openalex.org/W2967552616","https://openalex.org/W3099629894","https://openalex.org/W3102129812","https://openalex.org/W3135528295","https://openalex.org/W3202883604","https://openalex.org/W4206165650","https://openalex.org/W4229025300","https://openalex.org/W4255045719","https://openalex.org/W4294411035","https://openalex.org/W6748202546","https://openalex.org/W6811095178"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691","https://openalex.org/W2357323510"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,56,150],"novel":[4],"method":[5,111],"for":[6,21,153],"using":[7,77,92],"Riemannian":[8,52,93],"Motion":[9,53,94],"Policies":[10,54,95],"on":[11,33,115,149],"volumetric":[12,39],"maps,":[13],"shown":[14],"in":[15,96],"the":[16,69,109,146],"example":[17],"of":[18,82,84],"obstacle":[19,29,90],"avoidance":[20,30,91],"Micro":[22],"Aerial":[23],"Vehicles":[24],"(MAVs),":[25],"Today,":[26],"most":[27],"robotic":[28],"algorithms":[31],"rely":[32],"sampling":[34],"or":[35,103],"optimization-based":[36],"planners":[37],"with":[38,68],"maps.":[40],"However,":[41],"they":[42],"are":[43,55,64],"computationally":[44],"expensive":[45],"and":[46,59,80,134,155],"often":[47],"have":[48],"inflexible":[49],"monolithic":[50],"architectures.":[51],"modular,":[57],"parallelizable,":[58],"efficient":[60],"navigation":[61],"alternative":[62],"but":[63],"challenging":[65],"to":[66,87,130,138],"use":[67],"widely":[70],"used":[71],"voxel-based":[72],"environment":[73],"representations.":[74],"We":[75,122,144],"propose":[76],"GPU":[78],"raycasting":[79],"tens":[81],"thousands":[83],"concurrent":[85],"policies":[86],"provide":[88],"direct":[89],"voxelized":[97],"maps":[98],"without":[99,118],"needing":[100],"map":[101],"smoothing":[102],"pre-processing.":[104],"Additionally,":[105],"we":[106],"present":[107],"how":[108,124],"same":[110],"can":[112,135],"directly":[113],"plan":[114],"LiDAR":[116],"scans":[117],"any":[119],"intermediate":[120],"map.":[121],"show":[123],"this":[125],"reactive":[126],"approach":[127],"compares":[128],"favorably":[129],"traditional":[131],"planning":[132],"methods":[133],"evaluate":[136],"up":[137],"200":[139],"million":[140],"rays":[141],"per":[142],"second.":[143],"demonstrate":[145],"planner":[147,160],"successfully":[148],"real":[151],"MAV":[152],"static":[154],"dynamic":[156],"obstacles.":[157],"The":[158],"presented":[159],"is":[161],"made":[162],"available":[163],"as":[164],"an":[165],"open-source":[166],"package":[167],"<sup":[168,171],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[169,172],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[170,173],"https://github.com/ethz-asl/reactive_avoidance.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}