{"id":"https://openalex.org/W4312579612","doi":"https://doi.org/10.1109/iros47612.2022.9981707","title":"Efficient Sampling-based Multirotors Kinodynamic Planning with Fast Regional Optimization and Post Refining","display_name":"Efficient Sampling-based Multirotors Kinodynamic Planning with Fast Regional Optimization and Post Refining","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312579612","doi":"https://doi.org/10.1109/iros47612.2022.9981707"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981707","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5015705831","display_name":"Hongkai Ye","orcid":"https://orcid.org/0000-0001-6831-1735"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongkai Ye","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","Huzhou Institute of Zhejiang University, Huzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I4391767838"]},{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089000046","display_name":"Neng Pan","orcid":"https://orcid.org/0000-0002-2905-2467"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Neng Pan","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","Huzhou Institute of Zhejiang University, Huzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I4391767838"]},{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072479087","display_name":"Qianhao Wang","orcid":"https://orcid.org/0000-0001-5157-4205"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianhao Wang","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","Huzhou Institute of Zhejiang University, Huzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I4391767838"]},{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102001766","display_name":"Chao Xu","orcid":"https://orcid.org/0000-0002-6965-6070"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Xu","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","Huzhou Institute of Zhejiang University, Huzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I4391767838"]},{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045181445","display_name":"Fei Gao","orcid":"https://orcid.org/0000-0001-9928-9390"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Gao","raw_affiliation_strings":["Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","Huzhou Institute of Zhejiang University, Huzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I4391767838"]},{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3356","last_page":"3363"},"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":0.9973999857902527,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.979200005531311,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7417224645614624},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7209420800209045},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.6472906470298767},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6457979679107666},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6028619408607483},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5472906231880188},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.522017776966095},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4875328242778778},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4871246814727783},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42982596158981323},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.42254817485809326},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.41804736852645874},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2572920620441437},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2255391776561737},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14787080883979797},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1296486258506775},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.08581537008285522}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7417224645614624},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7209420800209045},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.6472906470298767},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6457979679107666},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6028619408607483},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5472906231880188},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.522017776966095},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4875328242778778},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4871246814727783},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42982596158981323},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.42254817485809326},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.41804736852645874},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2572920620441437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2255391776561737},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14787080883979797},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1296486258506775},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.08581537008285522},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","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},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/iros47612.2022.9981707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981707","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1587371456","https://openalex.org/W1814533834","https://openalex.org/W1971086298","https://openalex.org/W1996183429","https://openalex.org/W2046549071","https://openalex.org/W2048820947","https://openalex.org/W2054585537","https://openalex.org/W2057799302","https://openalex.org/W2161819990","https://openalex.org/W2162991084","https://openalex.org/W2181845023","https://openalex.org/W2416313483","https://openalex.org/W2496166238","https://openalex.org/W2587415290","https://openalex.org/W2891491652","https://openalex.org/W2892184971","https://openalex.org/W2962787639","https://openalex.org/W2962805470","https://openalex.org/W2963249250","https://openalex.org/W2963497136","https://openalex.org/W3003509823","https://openalex.org/W3038825904","https://openalex.org/W3103346840","https://openalex.org/W3113905734","https://openalex.org/W3114626444","https://openalex.org/W3206969010","https://openalex.org/W6784987139"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2361427670","https://openalex.org/W2139910871","https://openalex.org/W2119925415"],"abstract_inverted_index":{"For":[0],"real-time":[1,148],"multirotor":[2],"kinodynamic":[3],"planning,":[4],"the":[5,39,57,82,86,92,96,123],"efficiency":[6],"of":[7,41,56,72,95],"sampling-based":[8],"methods":[9,128],"is":[10,145],"usually":[11],"hindered":[12],"by":[13,27],"difficult-to-sample":[14],"homotopy":[15],"classes":[16],"like":[17],"narrow":[18],"passages.":[19],"In":[20],"this":[21,25],"paper,":[22],"we":[23],"address":[24],"issue":[26],"a":[28,34,49,78,118,135],"hybrid":[29],"scheme.":[30],"We":[31,75],"firstly":[32],"propose":[33],"fast":[35],"regional":[36,87],"optimizer":[37],"exploiting":[38],"information":[40],"local":[42,58],"environments":[43],"and":[44,65,99,140,142],"then":[45],"integrate":[46],"it":[47],"into":[48],"bidirectional":[50],"global":[51,97],"sampling":[52,98],"process.":[53],"The":[54,126],"incorporation":[55],"optimization":[59],"shows":[60],"significantly":[61],"improved":[62],"success":[63],"rates":[64],"less":[66],"planning":[67,127],"time":[68],"in":[69,138,147],"various":[70],"types":[71],"challenging":[73],"environments.":[74],"further":[76],"present":[77],"refinement":[79],"module":[80],"utilizing":[81],"same":[83],"framework":[84],"as":[85],"optimizer.":[88],"It":[89],"comprehensively":[90],"investigates":[91],"resulting":[93],"trajectory":[94,120],"improves":[100],"its":[101],"smoothness":[102],"with":[103],"nearly":[104],"negligible":[105],"computation":[106],"effort.":[107],"Benchmark":[108],"results":[109],"illustrate":[110],"that":[111],"our":[112],"proposed":[113],"method":[114],"can":[115],"better":[116],"exploit":[117],"previous":[119],"compared":[121],"to":[122,131],"state-of-the-art":[124],"ones.":[125],"are":[129],"applied":[130],"generate":[132],"trajectories":[133],"for":[134],"quadrotor":[136],"system":[137],"simulation":[139],"real-world,":[141],"their":[143],"capability":[144],"validated":[146],"applications.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
