{"id":"https://openalex.org/W3046281215","doi":"https://doi.org/10.1109/iros45743.2020.9341794","title":"Generating Minimum-Snap Quadrotor Trajectories Really Fast","display_name":"Generating Minimum-Snap Quadrotor Trajectories Really Fast","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3046281215","doi":"https://doi.org/10.1109/iros45743.2020.9341794","mag":"3046281215"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341794","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2008.00595","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039524032","display_name":"Declan Burke","orcid":null},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Declan Burke","raw_affiliation_strings":["Department of Mechanical Engineering and third with the Department of Electrical and Electronic Engineering, The University of Melbourne, VIC, Australia","The University of Melbourne,Department of Mechanical Engineering and third with the Department of Electrical and Electronic Engineering,VIC,Australia,3010"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and third with the Department of Electrical and Electronic Engineering, The University of Melbourne, VIC, Australia","institution_ids":["https://openalex.org/I165779595"]},{"raw_affiliation_string":"The University of Melbourne,Department of Mechanical Engineering and third with the Department of Electrical and Electronic Engineering,VIC,Australia,3010","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060665833","display_name":"Airlie Chapman","orcid":"https://orcid.org/0000-0002-8946-552X"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Airlie Chapman","raw_affiliation_strings":["Department of Mechanical Engineering and third with the Department of Electrical and Electronic Engineering, The University of Melbourne, VIC, Australia","The University of Melbourne,Department of Mechanical Engineering and third with the Department of Electrical and Electronic Engineering,VIC,Australia,3010"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and third with the Department of Electrical and Electronic Engineering, The University of Melbourne, VIC, Australia","institution_ids":["https://openalex.org/I165779595"]},{"raw_affiliation_string":"The University of Melbourne,Department of Mechanical Engineering and third with the Department of Electrical and Electronic Engineering,VIC,Australia,3010","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010259253","display_name":"Iman Shames","orcid":"https://orcid.org/0000-0001-7308-3546"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Iman Shames","raw_affiliation_strings":["Department of Mechanical Engineering and third with the Department of Electrical and Electronic Engineering, The University of Melbourne, VIC, Australia","The University of Melbourne,Department of Mechanical Engineering and third with the Department of Electrical and Electronic Engineering,VIC,Australia,3010"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and third with the Department of Electrical and Electronic Engineering, The University of Melbourne, VIC, Australia","institution_ids":["https://openalex.org/I165779595"]},{"raw_affiliation_string":"The University of Melbourne,Department of Mechanical Engineering and third with the Department of Electrical and Electronic Engineering,VIC,Australia,3010","institution_ids":["https://openalex.org/I165779595"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5039524032"],"corresponding_institution_ids":["https://openalex.org/I165779595"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07598316,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1487","last_page":"1492"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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":0.9988999962806702,"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/T11574","display_name":"Artificial Intelligence in Games","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12290","display_name":"Human Motion and Animation","score":0.9666000008583069,"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":0.6284655332565308},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5814135670661926},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5683294534683228},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5099407434463501},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4808414876461029},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.46572181582450867},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.45408040285110474},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3572598099708557},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18166890740394592},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06931442022323608}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6284655332565308},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5814135670661926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5683294534683228},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5099407434463501},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4808414876461029},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.46572181582450867},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.45408040285110474},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3572598099708557},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18166890740394592},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06931442022323608},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros45743.2020.9341794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341794","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"},{"id":"pmh:oai:arXiv.org:2008.00595","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.00595","pdf_url":"https://arxiv.org/pdf/2008.00595","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":"","raw_type":"text"},{"id":"mag:3046281215","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2008.00595.pdf","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:openresearch-repository.anu.edu.au:1885/733796000","is_oa":false,"landing_page_url":"https://hdl.handle.net/1885/733796000","pdf_url":null,"source":{"id":"https://openalex.org/S4306402539","display_name":"ANU Open Research (Australian National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I118347636","host_organization_name":"Australian National University","host_organization_lineage":["https://openalex.org/I118347636"],"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":"Conference paper"},{"id":"doi:10.48550/arxiv.2008.00595","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2008.00595","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2008.00595","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.00595","pdf_url":"https://arxiv.org/pdf/2008.00595","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":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320315885","display_name":"Australian Government","ror":"https://ror.org/0314h5y94"},{"id":"https://openalex.org/F4320335334","display_name":"Defence Science and Technology Group","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3046281215.pdf","grobid_xml":"https://content.openalex.org/works/W3046281215.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W1605218591","https://openalex.org/W2020804487","https://openalex.org/W2041786636","https://openalex.org/W2078114900","https://openalex.org/W2136207702","https://openalex.org/W2162991084","https://openalex.org/W2181845023","https://openalex.org/W2482392012","https://openalex.org/W2735618619","https://openalex.org/W2747401884","https://openalex.org/W2903506349","https://openalex.org/W2963497136","https://openalex.org/W3022909171","https://openalex.org/W3098354912","https://openalex.org/W4247112247","https://openalex.org/W4320800818"],"related_works":["https://openalex.org/W2465194975","https://openalex.org/W2092711598","https://openalex.org/W2761865386","https://openalex.org/W3177524785","https://openalex.org/W3201062901","https://openalex.org/W3021194537","https://openalex.org/W2279173425","https://openalex.org/W2744855064","https://openalex.org/W1170975771","https://openalex.org/W2773075019","https://openalex.org/W3196376370","https://openalex.org/W1546511338","https://openalex.org/W2962691939","https://openalex.org/W3137807726","https://openalex.org/W2921328390","https://openalex.org/W2903690466","https://openalex.org/W2969106984","https://openalex.org/W3088462067","https://openalex.org/W2756951891","https://openalex.org/W2908528560"],"abstract_inverted_index":{"We":[0,67,94],"propose":[1],"an":[2],"algorithm":[3,26,55,73],"for":[4,8,30,59],"generating":[5],"minimum-snap":[6],"trajectories":[7,40,91,101],"quadrotors":[9],"with":[10,14,103],"linear":[11],"computational":[12,48],"complexity":[13],"respect":[15],"to":[16,38,77,88],"the":[17,22,69,97,100],"number":[18],"of":[19,33,41,53,62,71,99],"segments":[20,34],"in":[21,80],"spline":[23],"trajectory.":[24],"Our":[25],"is":[27,36,83],"numerically":[28],"stable":[29],"large":[31,64],"numbers":[32],"and":[35,50,74,86],"able":[37,87],"generate":[39],"more":[42],"than":[43,92],"500,":[44],"000":[45],"segments.":[46],"The":[47],"speed":[49],"numerical":[51],"stability":[52],"our":[54,72],"makes":[56],"it":[57,76,82],"suitable":[58],"real-time":[60],"generation":[61],"very":[63],"scale":[65],"trajectories.":[66],"demonstrate":[68],"performance":[70],"compare":[75],"existing":[78],"methods,":[79],"which":[81],"both":[84],"faster":[85],"calculate":[89],"larger":[90],"state-of-the-art.":[93],"also":[95],"show":[96],"feasibility":[98],"experimentally":[102],"a":[104],"long":[105],"quadrotor":[106],"flight.":[107]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
