{"id":"https://openalex.org/W4401415415","doi":"https://doi.org/10.1109/icra57147.2024.10610207","title":"Design and Evaluation of Motion Planners for Quadrotors in Environments with Varying Complexities","display_name":"Design and Evaluation of Motion Planners for Quadrotors in Environments with Varying Complexities","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415415","doi":"https://doi.org/10.1109/icra57147.2024.10610207"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610207","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610207","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5050724515","display_name":"Yifei Shao","orcid":"https://orcid.org/0000-0001-9335-7268"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yifei Simon Shao","raw_affiliation_strings":["University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA,19104"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107951646","display_name":"Yuwei Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuwei Wu","raw_affiliation_strings":["University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA,19104"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090772145","display_name":"Laura Jarin-Lipschitz","orcid":"https://orcid.org/0000-0001-5926-1369"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Laura Jarin-Lipschitz","raw_affiliation_strings":["University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA,19104"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006038667","display_name":"Pratik Chaudhari","orcid":"https://orcid.org/0000-0003-4590-1956"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pratik Chaudhari","raw_affiliation_strings":["University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA,19104"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA,19104"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5050724515"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":1.5745,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.84291674,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"10033","last_page":"10039"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9976999759674072,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9973999857902527,"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":0.6424250602722168},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6205089092254639},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3769361972808838},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2442038655281067},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19446533918380737}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6424250602722168},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6205089092254639},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3769361972808838},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2442038655281067},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19446533918380737}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610207","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610207","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W14178847","https://openalex.org/W135651235","https://openalex.org/W300028405","https://openalex.org/W1424654272","https://openalex.org/W1605218591","https://openalex.org/W1864112212","https://openalex.org/W1965680834","https://openalex.org/W1969483458","https://openalex.org/W1974733785","https://openalex.org/W2100538121","https://openalex.org/W2120248849","https://openalex.org/W2147756883","https://openalex.org/W2162991084","https://openalex.org/W2295417718","https://openalex.org/W2565074442","https://openalex.org/W2585698528","https://openalex.org/W2587415290","https://openalex.org/W2607968634","https://openalex.org/W2899733099","https://openalex.org/W2909642387","https://openalex.org/W2963497136","https://openalex.org/W2979782538","https://openalex.org/W3004162504","https://openalex.org/W3090649643","https://openalex.org/W3098336417","https://openalex.org/W3102129812","https://openalex.org/W3118665117","https://openalex.org/W3123076862","https://openalex.org/W3135798748","https://openalex.org/W3197225143","https://openalex.org/W3202883604","https://openalex.org/W3205649458","https://openalex.org/W3209325542","https://openalex.org/W4206575475","https://openalex.org/W4367365848","https://openalex.org/W4381785675","https://openalex.org/W4383108733","https://openalex.org/W4383108878","https://openalex.org/W4385403764","https://openalex.org/W4385805093","https://openalex.org/W6600581995","https://openalex.org/W6605295560","https://openalex.org/W6634210811","https://openalex.org/W6810220931","https://openalex.org/W6852917243"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"Motion":[0],"planning":[1,115,173],"techniques":[2],"for":[3,59,156],"quadrotors":[4],"have":[5,15],"advanced":[6],"significantly":[7],"over":[8],"the":[9,34,38,62,75,111,172],"past":[10],"decade.":[11],"Most":[12],"successful":[13],"planners":[14,136],"two":[16],"stages:":[17],"a":[18,22,41,78,86,92,101,131,144,176],"front-end":[19],"that":[20,24,43,109,125,151],"determines":[21],"path":[23,46],"incorporates":[25],"geometric":[26,152],"(or":[27],"kinematic":[28],"or":[29],"input)":[30],"constraints":[31],"and":[32,40,50,119,143],"specifies":[33],"homotopy":[35],"class":[36],"of":[37,113,134],"trajectory,":[39],"back-end":[42],"optimizes":[44],"this":[45,96],"to":[47,84,103,129],"respect":[48],"dynamics":[49],"input":[51],"constraints.":[52],"While":[53],"there":[54],"are":[55,154],"many":[56],"different":[57],"choices":[58],"each":[60],"stage,":[61],"eventual":[63],"performance":[64],"depends":[65],"critically":[66],"not":[67],"only":[68],"on":[69,74],"these":[70,117],"choices,":[71],"but":[72],"also":[73],"environment.":[76,178],"Given":[77],"new":[79],"environment,":[80],"it":[81],"is":[82,181],"difficult":[83],"decide":[85],"priori":[87],"how":[88],"one":[89],"should":[90],"design":[91],"motion":[93,114],"planner.":[94],"In":[95],"work,":[97],"we":[98,168],"develop":[99],"(i)":[100],"procedure":[102],"construct":[104],"parametrized":[105],"environments,":[106,118],"(ii)":[107],"metrics":[108,167],"characterize":[110],"difficulty":[112,174],"in":[116,141,175],"(iii)":[120],"an":[121],"open-source":[122],"software":[123],"stack":[124],"can":[126],"be":[127],"used":[128],"combine":[130],"wide":[132],"variety":[133],"two-stage":[135],"seamlessly.":[137],"We":[138,147],"perform":[139],"experiments":[140],"simulations":[142],"real":[145],"platform.":[146],"find,":[148],"somewhat":[149],"conveniently,":[150],"front-ends":[153],"sufficient":[155],"environments":[157],"with":[158,163],"varying":[159],"complexities":[160],"if":[161],"combined":[162],"dynamics-aware":[164],"backends.":[165],"The":[166],"designed":[169],"faithfully":[170],"capture":[171],"given":[177],"All":[179],"code":[180],"available":[182],"at":[183],"https://github.com/KumarRobotics/kr_mp_design.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
