{"id":"https://openalex.org/W4401417001","doi":"https://doi.org/10.1109/icra57147.2024.10611255","title":"Practical and Safe Navigation Function Based Motion Planning of UAVs","display_name":"Practical and Safe Navigation Function Based Motion Planning of UAVs","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417001","doi":"https://doi.org/10.1109/icra57147.2024.10611255"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611255","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611255","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/A5035938170","display_name":"Himani Sinhmar","orcid":"https://orcid.org/0000-0002-0458-9401"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Himani Sinhmar","raw_affiliation_strings":["Cornell University,Ithaca,NY,USA"],"affiliations":[{"raw_affiliation_string":"Cornell University,Ithaca,NY,USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035704541","display_name":"Marcus Greiff","orcid":"https://orcid.org/0000-0003-4690-2221"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marcus Greiff","raw_affiliation_strings":["Toyota Research Institute (TRI),Los Altos,CA,USA,94022"],"affiliations":[{"raw_affiliation_string":"Toyota Research Institute (TRI),Los Altos,CA,USA,94022","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004144091","display_name":"Stefano Di Cairano","orcid":"https://orcid.org/0000-0002-2363-2807"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefano Di Cairano","raw_affiliation_strings":["Mitsubishi Electric Research Labs (MERL),Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Labs (MERL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I4210159266"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5035938170"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":0.2632,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52001694,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"115","issue":null,"first_page":"12186","last_page":"12192"},"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":0.9987000226974487,"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":0.9980999827384949,"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/computer-science","display_name":"Computer science","score":0.6517130136489868},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6424861550331116},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5711808800697327},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4861581027507782},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38616353273391724},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3210628032684326},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18208369612693787}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6517130136489868},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6424861550331116},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5711808800697327},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4861581027507782},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38616353273391724},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3210628032684326},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18208369612693787},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611255","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611255","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4000000059604645}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W86892992","https://openalex.org/W1424654272","https://openalex.org/W1786369541","https://openalex.org/W1832874869","https://openalex.org/W1904799423","https://openalex.org/W1968159474","https://openalex.org/W1971086298","https://openalex.org/W1972013173","https://openalex.org/W2017232752","https://openalex.org/W2019929966","https://openalex.org/W2024691050","https://openalex.org/W2066769138","https://openalex.org/W2076738229","https://openalex.org/W2085453310","https://openalex.org/W2103120971","https://openalex.org/W2109656638","https://openalex.org/W2110144538","https://openalex.org/W2134781609","https://openalex.org/W2178935672","https://openalex.org/W2319165578","https://openalex.org/W2397222277","https://openalex.org/W2482392012","https://openalex.org/W2513988836","https://openalex.org/W2886013082","https://openalex.org/W2963114352","https://openalex.org/W2968945909","https://openalex.org/W3138330110","https://openalex.org/W3175651440","https://openalex.org/W3184084069","https://openalex.org/W3189223768","https://openalex.org/W3210839039","https://openalex.org/W4210834531","https://openalex.org/W4211147054","https://openalex.org/W4226452773","https://openalex.org/W4281622689","https://openalex.org/W4324119476","https://openalex.org/W4361229546","https://openalex.org/W4380303779","https://openalex.org/W4382935801","https://openalex.org/W6603582964","https://openalex.org/W6736072853","https://openalex.org/W6751761974","https://openalex.org/W6799981664","https://openalex.org/W6851509739","https://openalex.org/W7055275195"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"This":[0],"paper":[1],"offers":[2],"a":[3,39,56,61,72,118],"practical":[4],"method":[5,42,89],"for":[6,22],"certifiably":[7],"safe":[8],"operations":[9,24],"of":[10,55,64,101],"an":[11,79],"unmanned":[12],"aerial":[13],"vehicle":[14],"(UAV)":[15],"with":[16,112],"limited":[17],"power":[18],"and":[19,67,94,104,115],"computation,":[20],"useful":[21],"real-time":[23],"where":[25],"the":[26,45,53,85,98,102,110],"UAV":[27,86,103],"is":[28,75,81],"exposed":[29],"to":[30,51,83],"significant":[31],"disturbances":[32],"in":[33],"non-convex":[34],"free":[35],"space.":[36],"We":[37,108],"propose":[38],"motion":[40],"planning":[41],"based":[43],"on":[44,69,97],"Explicit":[46],"Reference":[47],"Governor":[48],"(ERG)":[49],"framework":[50],"ensure":[52],"safety":[54],"flying":[57],"quadrotor":[58],"UAV.":[59],"From":[60],"small":[62],"set":[63],"experiment":[65],"data":[66],"assumptions":[68],"modeling":[70],"errors,":[71],"Lyapunov":[73],"function":[74],"synthesized":[76],"by":[77],"which":[78],"ERG":[80],"constructed":[82],"modify":[84],"set-points.":[87],"The":[88],"can":[90],"handle":[91],"polyhedral":[92],"obstacles":[93],"constraints":[95],"imposed":[96],"maximum":[99,106],"thrust":[100],"its":[105],"tilt.":[107],"demonstrate":[109],"approach":[111],"extensive":[113],"simulations":[114],"experiments":[116],"using":[117],"Crazyflie":[119],"2.1.":[120]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
