{"id":"https://openalex.org/W4405785713","doi":"https://doi.org/10.1109/iros58592.2024.10801294","title":"Energy-Optimized Planning in Non-Uniform Wind Fields with Fixed-Wing Aerial Vehicles","display_name":"Energy-Optimized Planning in Non-Uniform Wind Fields with Fixed-Wing Aerial Vehicles","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785713","doi":"https://doi.org/10.1109/iros58592.2024.10801294"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801294","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5101210995","display_name":"Yufei Duan","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yufei Duan","raw_affiliation_strings":["KTH Royal Institude of Technology,Robotics, Perception and Learning Lab,Stockholm,114 28"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institude of Technology,Robotics, Perception and Learning Lab,Stockholm,114 28","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032657685","display_name":"Florian Achermann","orcid":"https://orcid.org/0009-0005-0686-834X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Florian Achermann","raw_affiliation_strings":["ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101711591","display_name":"Jaeyoung Lim","orcid":"https://orcid.org/0000-0002-5695-4511"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jaeyoung Lim","raw_affiliation_strings":["ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Autonomous Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3116","last_page":"3122"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11489","display_name":"Air Traffic Management and Optimization","score":0.9962999820709229,"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"}},"topics":[{"id":"https://openalex.org/T11489","display_name":"Air Traffic Management and Optimization","score":0.9962999820709229,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9921000003814697,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.960099995136261,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/fixed-wing","display_name":"Fixed wing","score":0.849837601184845},{"id":"https://openalex.org/keywords/wind-power","display_name":"Wind power","score":0.6855437755584717},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.6806991100311279},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.5012133121490479},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4307023882865906},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.3738582134246826},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2275010347366333},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.17938506603240967}],"concepts":[{"id":"https://openalex.org/C3018522811","wikidata":"https://www.wikidata.org/wiki/Q2875704","display_name":"Fixed wing","level":3,"score":0.849837601184845},{"id":"https://openalex.org/C78600449","wikidata":"https://www.wikidata.org/wiki/Q43302","display_name":"Wind power","level":2,"score":0.6855437755584717},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.6806991100311279},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.5012133121490479},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4307023882865906},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3738582134246826},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2275010347366333},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.17938506603240967}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801294","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8399999737739563}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W167756786","https://openalex.org/W1569048382","https://openalex.org/W1777783943","https://openalex.org/W1969701264","https://openalex.org/W1988583014","https://openalex.org/W1998943389","https://openalex.org/W2039013024","https://openalex.org/W2057799302","https://openalex.org/W2130192595","https://openalex.org/W2134638269","https://openalex.org/W2166500251","https://openalex.org/W2313274380","https://openalex.org/W2325423652","https://openalex.org/W2752693858","https://openalex.org/W2951772479","https://openalex.org/W2995730494","https://openalex.org/W3130356613","https://openalex.org/W4251346373","https://openalex.org/W4317651119","https://openalex.org/W4388709715","https://openalex.org/W4392061597","https://openalex.org/W4395467465","https://openalex.org/W6682675615","https://openalex.org/W6746201110","https://openalex.org/W6928959925"],"related_works":["https://openalex.org/W2051353479","https://openalex.org/W2047663700","https://openalex.org/W2145266680","https://openalex.org/W2267127512","https://openalex.org/W2029869150","https://openalex.org/W3039066287","https://openalex.org/W1978478581","https://openalex.org/W1569654675","https://openalex.org/W1993078269","https://openalex.org/W1538637279"],"abstract_inverted_index":{"Fixed-wing":[0],"small":[1],"uncrewed":[2],"aerial":[3],"vehicles":[4],"(sUAVs)":[5],"possess":[6],"the":[7,39,52,63,95,103,115,118,139,151,162],"capability":[8],"to":[9,24,55,79,102,105,145],"remain":[10],"airborne":[11],"for":[12],"extended":[13],"durations":[14],"and":[15,66,83,122,126,133],"traverse":[16],"vast":[17],"distances.":[18],"However,":[19],"their":[20],"operation":[21],"is":[22,77],"susceptible":[23],"wind":[25,35,50,64,72,111,124],"conditions,":[26],"particularly":[27],"in":[28,60,109],"regions":[29],"of":[30,117,153,164],"complex":[31],"terrain":[32],"where":[33,62],"high":[34],"speeds":[36],"may":[37],"push":[38],"aircraft":[40,98],"beyond":[41],"its":[42,128],"operational":[43],"limits,":[44],"potentially":[45],"raising":[46],"safety":[47,82],"concerns.":[48],"Moreover,":[49],"impacts":[51],"energy":[53,84,147],"required":[54],"follow":[56],"a":[57,91],"path,":[58],"especially":[59],"locations":[61],"direction":[65],"speed":[67],"are":[68],"not":[69],"favorable.":[70],"Incorporating":[71],"information":[73],"into":[74],"mission":[75],"planning":[76],"essential":[78],"ensure":[80],"both":[81],"efficiency.":[85],"In":[86],"this":[87],"paper,":[88],"we":[89],"propose":[90],"sampling-based":[92],"planner":[93,119,141],"using":[94],"kinematic":[96],"Dubins":[97],"paths":[99,108],"with":[100,120],"respect":[101],"ground,":[104],"plan":[106],"energy-efficient":[107],"non-uniform":[110],"fields.":[112],"We":[113,136],"study":[114],"characteristics":[116],"synthetic":[121],"real-world":[123],"data":[125],"compare":[127],"performance":[129],"against":[130],"baseline":[131],"cost":[132],"path":[134,159],"formulations.":[135],"demonstrate":[137],"that":[138],"energy-optimized":[140],"effectively":[142],"utilizes":[143],"updrafts":[144],"minimize":[146],"consumption,":[148],"albeit":[149],"at":[150],"expense":[152],"increased":[154],"travel":[155],"time.":[156],"The":[157],"ground-relative":[158],"formulation":[160],"facilitates":[161],"generation":[163],"safe":[165],"trajectories":[166],"onboard":[167],"sUAVs":[168],"within":[169],"reasonable":[170],"computational":[171],"timeframes.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
