{"id":"https://openalex.org/W4416748831","doi":"https://doi.org/10.1109/iros60139.2025.11247753","title":"Mapless Collision-Free Flight via MPC using Dual KD-Trees in Cluttered Environments","display_name":"Mapless Collision-Free Flight via MPC using Dual KD-Trees in Cluttered Environments","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748831","doi":"https://doi.org/10.1109/iros60139.2025.11247753"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":null,"display_name":"Linzuo Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Linzuo Zhang","raw_affiliation_strings":["Shanghai Jiao Tong University,Shanghai Key Laboratory of Navigation and Location-Based Services, School of Sensing Science and Engineering"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Shanghai Key Laboratory of Navigation and Location-Based Services, School of Sensing Science and Engineering","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036111618","display_name":"Yu Hu","orcid":"https://orcid.org/0000-0002-4878-3169"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Hu","raw_affiliation_strings":["Shanghai Jiao Tong University,Shanghai Key Laboratory of Navigation and Location-Based Services, School of Sensing Science and Engineering"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Shanghai Key Laboratory of Navigation and Location-Based Services, School of Sensing Science and Engineering","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102705672","display_name":"Yang Deng","orcid":"https://orcid.org/0000-0002-6568-5341"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Deng","raw_affiliation_strings":["Shanghai Jiao Tong University,Shanghai Key Laboratory of Navigation and Location-Based Services, School of Sensing Science and Engineering"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Shanghai Key Laboratory of Navigation and Location-Based Services, School of Sensing Science and Engineering","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100775062","display_name":"Feng Yu","orcid":"https://orcid.org/0000-0003-0069-2839"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Yu","raw_affiliation_strings":["Shanghai Jiao Tong University,Shanghai Key Laboratory of Navigation and Location-Based Services, School of Sensing Science and Engineering"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Shanghai Key Laboratory of Navigation and Location-Based Services, School of Sensing Science and Engineering","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019803400","display_name":"Danping Zou","orcid":"https://orcid.org/0000-0003-3824-8741"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Danping Zou","raw_affiliation_strings":["Shanghai Jiao Tong University,Shanghai Key Laboratory of Navigation and Location-Based Services, School of Sensing Science and Engineering"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Shanghai Key Laboratory of Navigation and Location-Based Services, School of Sensing Science and Engineering","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.36312651,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"19653","last_page":"19660"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8723999857902527,"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":0.8723999857902527,"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":0.03440000116825104,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.01600000075995922,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6714000105857849},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6503999829292297},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6467000246047974},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.5386000275611877},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5134000182151794},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5055999755859375},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5047000050544739},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.4413999915122986}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7551000118255615},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6714000105857849},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6503999829292297},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6467000246047974},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.5386000275611877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5209000110626221},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5134000182151794},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5055999755859375},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5047000050544739},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44519999623298645},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.4413999915122986},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.42739999294281006},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.39489999413490295},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.3709999918937683},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3490000069141388},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.3384999930858612},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.3018999993801117},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.2840999960899353},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.28360000252723694},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2605000138282776},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.2581999897956848},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.257099986076355}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":40,"referenced_works":["https://openalex.org/W2158955701","https://openalex.org/W2842089854","https://openalex.org/W2949691147","https://openalex.org/W2962787639","https://openalex.org/W2963439316","https://openalex.org/W2969306559","https://openalex.org/W3004227484","https://openalex.org/W3023767264","https://openalex.org/W3045462839","https://openalex.org/W3089858107","https://openalex.org/W3114626444","https://openalex.org/W3159537771","https://openalex.org/W3173494724","https://openalex.org/W3188485279","https://openalex.org/W3189223768","https://openalex.org/W3197225143","https://openalex.org/W3199843468","https://openalex.org/W3202883604","https://openalex.org/W4200630212","https://openalex.org/W4205151932","https://openalex.org/W4313049632","https://openalex.org/W4319879135","https://openalex.org/W4321380998","https://openalex.org/W4381661762","https://openalex.org/W4389665345","https://openalex.org/W4389667799","https://openalex.org/W4396817401","https://openalex.org/W4398186483","https://openalex.org/W4400229167","https://openalex.org/W4400946992","https://openalex.org/W4401414310","https://openalex.org/W4401414910","https://openalex.org/W4401416055","https://openalex.org/W4401417288","https://openalex.org/W4402354031","https://openalex.org/W4402354032","https://openalex.org/W4405710362","https://openalex.org/W4405778711","https://openalex.org/W4409473885","https://openalex.org/W4411328628"],"related_works":[],"abstract_inverted_index":{"Collision-free":[0],"flight":[1,37,52],"in":[2,53,141,185,190],"cluttered":[3,54],"environments":[4,55],"is":[5,169,206],"a":[6,46,86,109,128,196],"critical":[7],"capability":[8],"for":[9,49,121,132],"autonomous":[10],"quadrotors.":[11],"Traditional":[12],"methods":[13,167],"often":[14],"rely":[15],"on":[16,97],"detailed":[17],"3D":[18,59],"map":[19],"construction,":[20],"trajectory":[21],"generation,":[22],"and":[23,33,39,63,82,154,168,187,198],"tracking.":[24],"However,":[25],"this":[26,42],"cascade":[27],"pipeline":[28],"can":[29],"introduce":[30,108],"accumulated":[31],"errors":[32],"computational":[34],"delays,":[35],"limiting":[36],"agility":[38],"safety.":[40],"In":[41],"paper,":[43],"we":[44,68,107],"propose":[45],"novel":[47],"method":[48,194],"enabling":[50],"collision-free":[51,65],"without":[56],"explicitly":[57],"constructing":[58],"maps":[60],"or":[61],"generating":[62],"tracking":[64],"trajectories.":[66],"Instead,":[67],"leverage":[69],"Model":[70],"Predictive":[71],"Control":[72],"(MPC)":[73],"to":[74,172,182,201],"directly":[75],"produce":[76],"safe":[77],"actions":[78],"from":[79,85,101,138],"sparse":[80,90],"waypoints":[81,91],"point":[83,102],"clouds":[84],"depth":[87],"camera.":[88],"These":[89],"are":[92],"dynamically":[93],"adjusted":[94],"online":[95],"based":[96],"nearby":[98],"obstacles":[99],"detected":[100],"clouds.":[103],"To":[104],"achieve":[105],"this,":[106],"dual":[110],"KD-Tree":[111,115,126],"mechanism:":[112],"the":[113,118,124,133,165],"Obstacle":[114],"quickly":[116],"identifies":[117],"nearest":[119],"obstacle":[120,145,178],"avoidance,":[122],"while":[123],"Edge":[125],"provides":[127,195],"robust":[129,199],"initial":[130],"guess":[131],"MPC":[134],"solver,":[135],"preventing":[136],"it":[137],"getting":[139],"stuck":[140],"local":[142],"minima":[143],"during":[144],"avoidance.":[146],"We":[147],"validate":[148],"our":[149,161],"approach":[150,162],"through":[151],"extensive":[152],"simulations":[153,186],"real-world":[155,191],"experiments.":[156],"The":[157,204],"results":[158],"show":[159],"that":[160],"significantly":[163],"outperforms":[164],"mapping-based":[166],"also":[170],"superior":[171],"imitation":[173],"learning-based":[174],"methods,":[175],"demonstrating":[176],"reliable":[177],"avoidance":[179],"at":[180,209],"up":[181],"12":[183],"m/s":[184,189],"6":[188],"tests.":[192],"Our":[193],"simple":[197],"alternative":[200],"existing":[202],"methods.":[203],"code":[205],"publicly":[207],"available":[208],"https://github.com/SJTU-ViSYS-team/avoid-mpc.":[210]},"counts_by_year":[],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-11-28T00:00:00"}