{"id":"https://openalex.org/W2949691147","doi":"https://doi.org/10.1109/iros.2017.8202160","title":"Real-time trajectory replanning for MAVs using uniform B-splines and a 3D circular buffer","display_name":"Real-time trajectory replanning for MAVs using uniform B-splines and a 3D circular buffer","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2949691147","doi":"https://doi.org/10.1109/iros.2017.8202160","mag":"2949691147"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202160","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1703.01416","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Vladyslav Usenko","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Vladyslav Usenko","raw_affiliation_strings":["Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lukas von Stumberg","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lukas von Stumberg","raw_affiliation_strings":["Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Andrej Pangercic","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andrej Pangercic","raw_affiliation_strings":["Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":null,"display_name":"Daniel Cremers","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Cremers","raw_affiliation_strings":["Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":3.9771,"has_fulltext":false,"cited_by_count":187,"citation_normalized_percentile":{"value":0.96384762,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"215","last_page":"222"},"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":0.9991000294685364,"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/T12158","display_name":"Guidance and Control Systems","score":0.9919000267982483,"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/trajectory","display_name":"Trajectory","score":0.8532999753952026},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.5512999892234802},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5180000066757202},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.47450000047683716},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.45910000801086426},{"id":"https://openalex.org/keywords/current","display_name":"Current (fluid)","score":0.3481000065803528}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8532999753952026},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.5512999892234802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5490000247955322},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5180000066757202},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.47450000047683716},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.45910000801086426},{"id":"https://openalex.org/C148043351","wikidata":"https://www.wikidata.org/wiki/Q4456944","display_name":"Current (fluid)","level":2,"score":0.3481000065803528},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3280999958515167},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.32170000672340393},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.29109999537467957},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2808000147342682},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8202160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202160","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1703.01416","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1703.01416","pdf_url":"https://arxiv.org/pdf/1703.01416","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1703.01416","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1703.01416","pdf_url":"https://arxiv.org/pdf/1703.01416","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1518641734","https://openalex.org/W1993730936","https://openalex.org/W2013345945","https://openalex.org/W2021851106","https://openalex.org/W2051434435","https://openalex.org/W2071906076","https://openalex.org/W2076231474","https://openalex.org/W2093187605","https://openalex.org/W2109656638","https://openalex.org/W2116334708","https://openalex.org/W2133844819","https://openalex.org/W2136265843","https://openalex.org/W2153245297","https://openalex.org/W2161819990","https://openalex.org/W2162991084","https://openalex.org/W2214613866","https://openalex.org/W2482392012","https://openalex.org/W3175819170","https://openalex.org/W4255045719","https://openalex.org/W6631963404","https://openalex.org/W6677681850"],"related_works":[],"abstract_inverted_index":{"In":[0,43],"this":[1],"paper,":[2],"we":[3,47,87],"present":[4],"a":[5,58,102,110],"real-time":[6,85],"approach":[7,83],"to":[8,74],"local":[9,59],"trajectory":[10,17,125],"replanning":[11,60],"for":[12,20,132],"microaerial":[13],"vehicles":[14],"(MAVs).":[15],"Current":[16],"generation":[18],"methods":[19],"multicopters":[21],"achieve":[22],"high":[23],"success":[24],"rates":[25],"in":[26,96,101],"cluttered":[27],"environments,":[28],"but":[29],"assume":[30],"that":[31,62,80,123],"the":[32,41,44,49,71,75,81,91,94,114,124],"environment":[33,92],"is":[34,84,126],"static":[35],"and":[36,54,112,129],"require":[37],"prior":[38],"knowledge":[39],"of":[40,51],"map.":[42],"presented":[45],"study,":[46],"use":[48],"results":[50],"such":[52],"planners":[53],"extend":[55],"them":[56],"with":[57,109],"algorithm":[61],"can":[63],"handle":[64],"unmodeled":[65],"(possibly":[66],"dynamic)":[67],"obstacles":[68],"while":[69],"keeping":[70],"MAV":[72,95],"close":[73],"global":[76],"trajectory.":[77],"To":[78],"ensure":[79],"proposed":[82],"capable,":[86],"maintain":[88],"information":[89],"about":[90],"around":[93],"an":[97],"occupancy":[98],"grid":[99],"stored":[100],"three-dimensional":[103],"circular":[104],"buffer,":[105],"which":[106],"moves":[107],"together":[108],"drone,":[111],"represent":[113],"trajectories":[115],"by":[116],"using":[117],"uniform":[118],"B-splines.":[119],"This":[120],"representation":[121],"ensures":[122],"sufficiently":[127],"smooth":[128],"simultaneously":[130],"allows":[131],"efficient":[133],"optimization.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":29},{"year":2023,"cited_by_count":34},{"year":2022,"cited_by_count":27},{"year":2021,"cited_by_count":25},{"year":2020,"cited_by_count":26},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2019-06-27T00:00:00"}