{"id":"https://openalex.org/W4405786877","doi":"https://doi.org/10.1109/iros58592.2024.10801888","title":"Energy-Optimal Planning of Waypoint-Based UAV Missions - Does Minimum Distance Mean Minimum Energy?","display_name":"Energy-Optimal Planning of Waypoint-Based UAV Missions - Does Minimum Distance Mean Minimum Energy?","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786877","doi":"https://doi.org/10.1109/iros58592.2024.10801888"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801888","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":"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/A5043597444","display_name":"Nicolas Michel","orcid":"https://orcid.org/0000-0002-5378-5214"},"institutions":[{"id":"https://openalex.org/I84218800","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69","country_code":"US","type":"education","lineage":["https://openalex.org/I84218800"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nicolas Michel","raw_affiliation_strings":["University of California,Department of Mechanical and Aerospace Engineering,Davis,CA,USA,95616"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical and Aerospace Engineering,Davis,CA,USA,95616","institution_ids":["https://openalex.org/I84218800"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113312783","display_name":"Ayush Patnaik","orcid":null},"institutions":[{"id":"https://openalex.org/I84218800","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69","country_code":"US","type":"education","lineage":["https://openalex.org/I84218800"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ayush Patnaik","raw_affiliation_strings":["University of California,Department of Mechanical and Aerospace Engineering,Davis,CA,USA,95616"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical and Aerospace Engineering,Davis,CA,USA,95616","institution_ids":["https://openalex.org/I84218800"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017663923","display_name":"Zhaodan Kong","orcid":"https://orcid.org/0000-0002-2493-1366"},"institutions":[{"id":"https://openalex.org/I84218800","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69","country_code":"US","type":"education","lineage":["https://openalex.org/I84218800"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhaodan Kong","raw_affiliation_strings":["University of California,Department of Mechanical and Aerospace Engineering,Davis,CA,USA,95616"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical and Aerospace Engineering,Davis,CA,USA,95616","institution_ids":["https://openalex.org/I84218800"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043049104","display_name":"Xinfan Lin","orcid":"https://orcid.org/0000-0002-2929-8563"},"institutions":[{"id":"https://openalex.org/I84218800","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69","country_code":"US","type":"education","lineage":["https://openalex.org/I84218800"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xinfan Lin","raw_affiliation_strings":["University of California,Department of Mechanical and Aerospace Engineering,Davis,CA,USA,95616"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical and Aerospace Engineering,Davis,CA,USA,95616","institution_ids":["https://openalex.org/I84218800"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5043597444"],"corresponding_institution_ids":["https://openalex.org/I84218800"],"apc_list":null,"apc_paid":null,"fwci":4.5288,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.9423005,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"10362","last_page":"10369"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9939000010490417,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9939000010490417,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9891999959945679,"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":0.9753000140190125,"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/waypoint","display_name":"Waypoint","score":0.9656733274459839},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5841017961502075},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5587041974067688},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4985496997833252},{"id":"https://openalex.org/keywords/minimum-distance","display_name":"Minimum distance","score":0.46135565638542175},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33384501934051514},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3138340711593628},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.25349265336990356},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17324000597000122},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15461969375610352},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12496820092201233},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1189410388469696}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.9656733274459839},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5841017961502075},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5587041974067688},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4985496997833252},{"id":"https://openalex.org/C3018063660","wikidata":"https://www.wikidata.org/wiki/Q6865448","display_name":"Minimum distance","level":2,"score":0.46135565638542175},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33384501934051514},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3138340711593628},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25349265336990356},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17324000597000122},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15461969375610352},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12496820092201233},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1189410388469696}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801888","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":[{"score":0.75,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W80180111","https://openalex.org/W1650780448","https://openalex.org/W2000018540","https://openalex.org/W2009945360","https://openalex.org/W2314343773","https://openalex.org/W2318012181","https://openalex.org/W2414661092","https://openalex.org/W2471190594","https://openalex.org/W2565201867","https://openalex.org/W2736422478","https://openalex.org/W2745115605","https://openalex.org/W2772154329","https://openalex.org/W2805063029","https://openalex.org/W2890073142","https://openalex.org/W2964511923","https://openalex.org/W2967031190","https://openalex.org/W2967768606","https://openalex.org/W3125021394","https://openalex.org/W3158361099","https://openalex.org/W3200501401","https://openalex.org/W4224980634","https://openalex.org/W4295856462","https://openalex.org/W4297799136","https://openalex.org/W4313302921"],"related_works":["https://openalex.org/W2688471429","https://openalex.org/W4360939124","https://openalex.org/W2077345734","https://openalex.org/W2899287767","https://openalex.org/W2275928629","https://openalex.org/W4387126713","https://openalex.org/W2612848489","https://openalex.org/W2915444871","https://openalex.org/W2096610529","https://openalex.org/W2863424594"],"abstract_inverted_index":{"Multirotor":[0],"unmanned":[1],"aerial":[2,9],"vehicle":[3],"is":[4,21,69,166,184],"a":[5,22,73],"prevailing":[6],"type":[7],"of":[8,18,25,33,45,55,81,89,97,105,140,153,170,175],"robots":[10],"with":[11,57,124],"wide":[12],"real-world":[13],"applications.":[14],"The":[15,67,116],"energy":[16,60,79,163,189],"efficiency":[17,183],"the":[19,29,42,46,52,58,82,90,95,98,106,113,125,136,143,150,154,160,172,185],"robot":[20],"critical":[23],"aspect":[24],"its":[26],"performance,":[27],"determining":[28],"range":[30,137],"and":[31,129,138,148,177],"duration":[32],"missions":[34,63],"that":[35,86,168],"can":[36,118],"be":[37,119],"performed.":[38],"This":[39],"paper":[40],"studies":[41],"energy-optimal":[43,99],"planning":[44,100],"multirotor,":[47],"which":[48,111],"aims":[49],"at":[50,127,132],"finding":[51],"optimal":[53],"ordering":[54],"waypoints":[56,141],"minimum":[59],"consumption":[61],"for":[62],"in":[64,87,142],"3D":[65],"space.":[66],"study":[68],"performed":[70],"based":[71],"on":[72,135],"previously":[74],"developed":[75],"model":[76],"capturing":[77],"first-principle":[78],"dynamics":[80],"multirotor.":[83],"We":[84,145],"found":[85],"majority":[88],"cases":[91],"(up":[92],"to":[93,159,180,187],"95%)":[94],"solutions":[96],"are":[101],"different":[102],"from":[103],"those":[104],"traditional":[107],"traveling":[108],"salesman":[109],"problem":[110],"minimizes":[112],"total":[114],"distance.":[115],"difference":[117],"as":[120,122],"high":[121],"14.9%,":[123],"average":[126],"1.6%-3.3%":[128],"90th":[130],"percentile":[131],"3.7%-6.5%":[133],"depending":[134],"number":[139],"mission.":[144],"then":[146],"identified":[147],"explained":[149],"key":[151,186],"features":[152],"minimum-energy":[155],"order":[156],"by":[157],"correlating":[158],"underlying":[161],"flight":[162],"dynamics.":[164],"It":[165],"shown":[167],"instead":[169],"minimizing":[171],"distance,":[173],"coordination":[174],"vertical":[176],"horizontal":[178],"motion":[179],"promote":[181],"aerodynamic":[182],"optimizing":[188],"consumption.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":6}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
