{"id":"https://openalex.org/W2908850135","doi":"https://doi.org/10.1109/iros.2018.8594351","title":"Real-Time Quad-Rotor Path Planning for Mobile Obstacle Avoidance Using Convex Optimization","display_name":"Real-Time Quad-Rotor Path Planning for Mobile Obstacle Avoidance Using Convex Optimization","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2908850135","doi":"https://doi.org/10.1109/iros.2018.8594351","mag":"2908850135"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594351","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5075576553","display_name":"Michael Szmuk","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Michael Szmuk","raw_affiliation_strings":["The Autonomous Controls Laboratory of the Department of Aeronautics and Astronautics, University of Washington, Seattle, USA"],"affiliations":[{"raw_affiliation_string":"The Autonomous Controls Laboratory of the Department of Aeronautics and Astronautics, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001815056","display_name":"Carlo Alberto Pascucci","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carlo Alberto Pascucci","raw_affiliation_strings":["The Autonomous Controls Laboratory of the Department of Aeronautics and Astronautics, University of Washington, Seattle, USA"],"affiliations":[{"raw_affiliation_string":"The Autonomous Controls Laboratory of the Department of Aeronautics and Astronautics, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044772884","display_name":"Beh\u00e7et A\u00e7\u0131kme\u015fe","orcid":"https://orcid.org/0000-0002-8693-8109"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Behcet Acikmese","raw_affiliation_strings":["The Autonomous Controls Laboratory of the Department of Aeronautics and Astronautics, University of Washington, Seattle, USA"],"affiliations":[{"raw_affiliation_string":"The Autonomous Controls Laboratory of the Department of Aeronautics and Astronautics, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5075576553"],"corresponding_institution_ids":["https://openalex.org/I201448701","https://openalex.org/I46020346"],"apc_list":null,"apc_paid":null,"fwci":0.9401,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.81416883,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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":0.9987999796867371,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9958999752998352,"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":0.9790999889373779,"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/motion-planning","display_name":"Motion planning","score":0.6874990463256836},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6289688348770142},{"id":"https://openalex.org/keywords/convexity","display_name":"Convexity","score":0.6258392333984375},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6055912971496582},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5760224461555481},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5146192312240601},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5092414617538452},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49217382073402405},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4660082459449768},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4488258957862854},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.44602975249290466},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.44589710235595703},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4166068136692047},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3761926591396332},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.3595554232597351},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.246944397687912},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.2148902416229248},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1964467167854309},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18539908528327942},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12633752822875977},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09920504689216614},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09910804033279419}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6874990463256836},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6289688348770142},{"id":"https://openalex.org/C72134830","wikidata":"https://www.wikidata.org/wiki/Q5166524","display_name":"Convexity","level":2,"score":0.6258392333984375},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6055912971496582},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5760224461555481},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5146192312240601},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5092414617538452},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49217382073402405},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4660082459449768},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4488258957862854},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.44602975249290466},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.44589710235595703},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4166068136692047},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3761926591396332},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.3595554232597351},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.246944397687912},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2148902416229248},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1964467167854309},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18539908528327942},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12633752822875977},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09920504689216614},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09910804033279419},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","level":1,"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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8594351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594351","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":0.75}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1704276703","https://openalex.org/W1919002818","https://openalex.org/W1968566045","https://openalex.org/W1977284223","https://openalex.org/W2006455928","https://openalex.org/W2021748044","https://openalex.org/W2022419729","https://openalex.org/W2026079951","https://openalex.org/W2027928741","https://openalex.org/W2038818107","https://openalex.org/W2044494131","https://openalex.org/W2052750413","https://openalex.org/W2052862714","https://openalex.org/W2117402460","https://openalex.org/W2129516068","https://openalex.org/W2135553889","https://openalex.org/W2162991084","https://openalex.org/W2320211399","https://openalex.org/W2418368699","https://openalex.org/W2513178932","https://openalex.org/W2516543836","https://openalex.org/W2568289885","https://openalex.org/W2773080460","https://openalex.org/W3098928855","https://openalex.org/W3101244677","https://openalex.org/W3102244603","https://openalex.org/W6657299365","https://openalex.org/W6726101483"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W4324119010","https://openalex.org/W3036618925","https://openalex.org/W2153702122"],"abstract_inverted_index":{"In":[0,179],"this":[1,53,71,180],"paper,":[2],"we":[3,26,133,141],"employ":[4,134],"convex":[5],"optimization":[6],"to":[7,43,56,100,114,196,224,226],"perform":[8],"real-time":[9,19,61],"3-dimensional":[10],"path":[11,64,72],"planning":[12,73],"on-board":[13,62],"a":[14,40,95,147,173],"quad-rotor":[15],"and":[16,37,46,130,136,159,169,192],"demonstrate":[17,57],"its":[18],"capabilities.":[20],"Building":[21],"on":[22],"our":[23,182,231],"previous":[24],"work,":[25],"make":[27],"the":[28,33,48,58,87,115,124,143,186,201,204,227],"following":[29],"modifications:":[30],"(1)we":[31],"assume":[32],"obstacles":[34,187],"are":[35],"mobile,":[36],"(2)we":[38],"introduce":[39],"simple":[41],"framework":[42],"continuously":[44],"recompute":[45],"update":[47],"trajectory.":[49],"The":[50,107,206],"contribution":[51],"of":[52,60,78,110,149,172,203,219],"paper":[54],"is":[55,112,193],"feasibility":[59],"convex-optimization-based":[63],"planning.":[65],"For":[66],"multi-rotors":[67],"with":[68,175,189],"fixed-pitch":[69,82],"propellers,":[70],"problem":[74,145],"has":[75],"two":[76],"sources":[77],"non-convexity.":[79],"First,":[80],"since":[81],"actuators":[83],"produce":[84],"uni-directional":[85],"thrust,":[86],"commanded":[88],"total":[89],"thrust":[90],"must":[91],"be":[92,156,213],"maintained":[93],"above":[94],"non-zero":[96],"minimum":[97],"in":[98,200,217,230],"order":[99],"retain":[101],"sufficient":[102],"independent":[103],"attitude":[104],"control":[105,129],"authority.":[106],"second":[108],"source":[109],"non-convexity":[111],"due":[113],"keep-out":[116],"zones":[117],"that":[118,185,209],"envelop":[119],"each":[120],"obstacle.":[121],"To":[122],"circumvent":[123],"non-convexities":[125],"introduced":[126,229],"by":[127,164],"these":[128],"state":[131],"constraints,":[132],"lossless":[135],"successive":[137],"con-vexification,":[138],"respectively.":[139],"Consequently,":[140],"cast":[142],"original":[144],"as":[146],"sequence":[148],"Second-Order":[150],"Cone":[151],"Programming":[152],"problems,":[153],"which":[154],"can":[155,212],"solved":[157],"quickly":[158,222],"reliably":[160],"on-board.":[161],"We":[162],"conclude":[163],"presenting":[165],"indoor":[166],"flight":[167,232],"demonstration":[168],"timing":[170],"results":[171,207],"scenario":[174],"three":[176],"mobile":[177],"obstacles.":[178,205],"scenario,":[181],"algorithm":[183],"assumes":[184],"move":[188],"constant":[190],"acceleration,":[191],"re-executed":[194],"regularly":[195],"account":[197],"for":[198],"uncertainties":[199],"motion":[202],"show":[208],"new":[210],"trajectories":[211],"computed":[214],"at":[215],"rates":[216],"excess":[218],"10":[220],"Hz,":[221],"enough":[223],"adapt":[225],"uncertainty":[228],"demonstration.":[233]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
