{"id":"https://openalex.org/W3131526549","doi":"https://doi.org/10.1109/iros45743.2020.9341273","title":"Efficient Trajectory Library Filtering for Quadrotor Flight in Unknown Environments","display_name":"Efficient Trajectory Library Filtering for Quadrotor Flight in Unknown Environments","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3131526549","doi":"https://doi.org/10.1109/iros45743.2020.9341273","mag":"3131526549"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341273","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5069515105","display_name":"Vaibhav K. Viswanathan","orcid":"https://orcid.org/0000-0002-8722-8096"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vaibhav K. Viswanathan","raw_affiliation_strings":["The Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057103034","display_name":"Eric Dexheimer","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric Dexheimer","raw_affiliation_strings":["The Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047579867","display_name":"Guanrui Li","orcid":"https://orcid.org/0000-0003-0554-304X"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guanrui Li","raw_affiliation_strings":["Tandon School of Engineering, New York University, Brooklyn, NY"],"affiliations":[{"raw_affiliation_string":"Tandon School of Engineering, New York University, Brooklyn, NY","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077485450","display_name":"Giuseppe Loianno","orcid":"https://orcid.org/0000-0002-3263-5401"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Giuseppe Loianno","raw_affiliation_strings":["Tandon School of Engineering, New York University, Brooklyn, NY"],"affiliations":[{"raw_affiliation_string":"Tandon School of Engineering, New York University, Brooklyn, NY","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014216861","display_name":"Michael Kaess","orcid":"https://orcid.org/0000-0002-7590-3357"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Kaess","raw_affiliation_strings":["The Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032584934","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8373-4688"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Scherer","raw_affiliation_strings":["The Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5069515105"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.3908,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.63613296,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2510","last_page":"2517"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9977999925613403,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.954800009727478,"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/trajectory","display_name":"Trajectory","score":0.8370020985603333},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7685379981994629},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7114025354385376},{"id":"https://openalex.org/keywords/bitwise-operation","display_name":"Bitwise operation","score":0.6821998357772827},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6204493641853333},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5274417996406555},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.47467899322509766},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4737570881843567},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4710676074028015},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4693891406059265},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38794755935668945},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3506826162338257},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32588937878608704},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1905381977558136},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1619151532649994},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.15595343708992004},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06544402241706848}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8370020985603333},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7685379981994629},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7114025354385376},{"id":"https://openalex.org/C134765980","wikidata":"https://www.wikidata.org/wiki/Q879126","display_name":"Bitwise operation","level":2,"score":0.6821998357772827},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6204493641853333},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5274417996406555},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.47467899322509766},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4737570881843567},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4710676074028015},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4693891406059265},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38794755935668945},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3506826162338257},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32588937878608704},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1905381977558136},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1619151532649994},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.15595343708992004},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06544402241706848},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341273","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W318964629","https://openalex.org/W1495977361","https://openalex.org/W1676459225","https://openalex.org/W2100512461","https://openalex.org/W2122100154","https://openalex.org/W2128259081","https://openalex.org/W2128582898","https://openalex.org/W2157692698","https://openalex.org/W2214860739","https://openalex.org/W2296228853","https://openalex.org/W2401129069","https://openalex.org/W2542011642","https://openalex.org/W2737917458","https://openalex.org/W2739434881","https://openalex.org/W2761373498","https://openalex.org/W2891491652","https://openalex.org/W2908852893","https://openalex.org/W2949691147","https://openalex.org/W2963249250","https://openalex.org/W2963439316","https://openalex.org/W2967828032","https://openalex.org/W3004227484","https://openalex.org/W3004272334","https://openalex.org/W3009542919","https://openalex.org/W3023767264","https://openalex.org/W3102365391","https://openalex.org/W3105740176","https://openalex.org/W3106333735","https://openalex.org/W6611072779","https://openalex.org/W6713437006","https://openalex.org/W6741283961","https://openalex.org/W6777322933"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183"],"abstract_inverted_index":{"Quadrotor":[0],"flight":[1,69],"in":[2,70,88,99,125,131],"cluttered,":[3],"unknown":[4,71],"environments":[5,72],"is":[6,85,103],"challenging":[7,16],"due":[8],"to":[9,76,92,96,113],"the":[10,39,104,114,117],"limited":[11,19],"range":[12],"of":[13,116,129],"perception":[14],"sensors,":[15],"obstacles,":[17],"and":[18,90,133],"onboard":[20,81],"computation.":[21],"In":[22],"this":[23],"work,":[24],"we":[25,60,121],"directly":[26],"address":[27],"these":[28],"challenges":[29],"by":[30,55],"proposing":[31],"an":[32,80],"efficient,":[33],"reactive":[34],"planning":[35,65],"approach.":[36],"We":[37],"introduce":[38],"Bitwise":[40],"Trajectory":[41],"Elimination":[42],"(BiTE)":[43],"algorithm":[44],"for":[45,67,109],"efficiently":[46],"filtering":[47],"out":[48],"in-collision":[49],"trajectories":[50,98],"from":[51],"a":[52,62,110],"trajectory":[53],"library":[54],"using":[56],"bitwise":[57],"operations.":[58],"Then,":[59],"outline":[61],"full":[63],"receding-horizon":[64],"approach":[66,84],"quadrotor":[68],"demonstrated":[73],"at":[74],"up":[75,95],"50":[77],"Hz":[78],"on":[79],"computer.":[82],"This":[83],"evaluated":[86],"extensively":[87],"simulation":[89],"shown":[91],"collision":[93,106],"check":[94],"4896":[97],"under":[100],"20\u03bcs,":[101],"which":[102],"fastest":[105],"checking":[107],"time":[108],"MAV":[111],"planner,":[112],"best":[115],"authors'":[118],"knowledge.":[119],"Finally,":[120],"validate":[122],"our":[123],"planner":[124],"over":[126],"120":[127],"minutes":[128],"flights":[130],"forest-like":[132],"urban":[134],"subterranean":[135],"environments.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
