{"id":"https://openalex.org/W2966005818","doi":"https://doi.org/10.1109/isie.2019.8781353","title":"MPCC-based Path Following Control for a Quadrotor with Collision Avoidance Guaranteed in Constrained Environments","display_name":"MPCC-based Path Following Control for a Quadrotor with Collision Avoidance Guaranteed in Constrained Environments","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2966005818","doi":"https://doi.org/10.1109/isie.2019.8781353","mag":"2966005818"},"language":"en","primary_location":{"id":"doi:10.1109/isie.2019.8781353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie.2019.8781353","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 28th International Symposium on Industrial Electronics (ISIE)","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/A5100776548","display_name":"Dong Wang","orcid":"https://orcid.org/0000-0002-6905-4651"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Wang","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi&#x2019;an, China","School of Automation, Northwestern Polytechnical University, Xi'an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108517562","display_name":"Quan Pan","orcid":"https://orcid.org/0000-0001-8162-2896"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quan Pan","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi&#x2019;an, China","School of Automation, Northwestern Polytechnical University, Xi'an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066765682","display_name":"Jinwen Hu","orcid":"https://orcid.org/0000-0003-3982-806X"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinwen Hu","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi&#x2019;an, China","School of Automation, Northwestern Polytechnical University, Xi'an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038929132","display_name":"Chunhui Zhao","orcid":"https://orcid.org/0000-0002-0254-5763"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunhui Zhao","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi&#x2019;an, China","School of Automation, Northwestern Polytechnical University, Xi'an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110987797","display_name":"Yaning Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaning Guo","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi&#x2019;an, China","School of Automation, Northwestern Polytechnical University, Xi'an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":1.7549,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.82563505,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"581","last_page":"586"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9987000226974487,"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/tree-traversal","display_name":"Tree traversal","score":0.9336087703704834},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.687463641166687},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6705456972122192},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6488217115402222},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6402767896652222},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5984022617340088},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5613430142402649},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5335408449172974},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4793458878993988},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.44402745366096497},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3918885886669159},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3916047513484955},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36546510457992554},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3444845676422119},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.20188897848129272},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19013839960098267},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18162593245506287},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1809076964855194},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17401254177093506},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.0844908058643341}],"concepts":[{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.9336087703704834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.687463641166687},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6705456972122192},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6488217115402222},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6402767896652222},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5984022617340088},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5613430142402649},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5335408449172974},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4793458878993988},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.44402745366096497},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3918885886669159},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3916047513484955},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36546510457992554},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3444845676422119},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.20188897848129272},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19013839960098267},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18162593245506287},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1809076964855194},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17401254177093506},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0844908058643341},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isie.2019.8781353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie.2019.8781353","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 28th International Symposium on Industrial Electronics (ISIE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1578293866","https://openalex.org/W2070576018","https://openalex.org/W2077121731","https://openalex.org/W2091565796","https://openalex.org/W2091744661","https://openalex.org/W2102975675","https://openalex.org/W2418368699","https://openalex.org/W2521613767","https://openalex.org/W2557430988","https://openalex.org/W2572948921","https://openalex.org/W2614122538","https://openalex.org/W2654286404","https://openalex.org/W2676821827","https://openalex.org/W2729776805","https://openalex.org/W2735863046","https://openalex.org/W2736730865","https://openalex.org/W2758099682","https://openalex.org/W2786318586","https://openalex.org/W2792491297","https://openalex.org/W2884740144","https://openalex.org/W2888152797","https://openalex.org/W2899688627","https://openalex.org/W2905560833","https://openalex.org/W2964206852","https://openalex.org/W3098035776","https://openalex.org/W3099520335"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2531604492","https://openalex.org/W2050548713","https://openalex.org/W4380590094","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W3119736302","https://openalex.org/W4381746183","https://openalex.org/W3200041777","https://openalex.org/W2794689129"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"an":[3],"autonomous":[4],"mission":[5],"on":[6],"safe":[7],"traversal":[8,95,184],"of":[9,20,61,144,151,197,207],"consecutive":[10],"gates":[11],"for":[12,79,84,162],"quadrotors.":[13],"Considering":[14],"that":[15],"the":[16,28,48,54,59,85,100,105,110,117,137,141,145,160,166,178,205,208],"effective":[17],"sensing":[18],"range":[19],"onboard":[21],"sensors":[22],"is":[23,52,97,189],"practically":[24],"short,":[25],"we":[26,153],"integrate":[27],"path":[29,34,40,71,112,118,125],"planning":[30],"into":[31],"model":[32,62,196],"predictive":[33,63],"following":[35,72],"control":[36,65,73,147,167,187,210],"(MPFC)":[37],"with":[38],"sigmoid-based":[39],"template":[41],"which":[42,164],"can":[43],"be":[44,119,170],"easily":[45],"revised":[46],"when":[47],"new":[49],"obstacles":[50],"information":[51],"within":[53],"detection":[55],"range.":[56],"We":[57],"leverage":[58],"framework":[60],"contouring":[64,92],"(MPCC)":[66],"to":[67,107,115,131,169,172],"suit":[68],"high":[69],"speed":[70,126],"applications.":[74],"The":[75,89,134,186,201],"MPFC":[76,101],"structure":[77],"allows":[78],"input":[80],"and":[81,94,122,180],"state":[82],"constraints":[83,179],"specific":[86],"practical":[87],"scene.":[88],"trade-off":[90],"between":[91],"accuracy":[93],"time":[96],"addressed":[98],"using":[99,192],"cost":[102,138],"function,":[103],"allowing":[104],"system":[106],"deviate":[108],"from":[109],"desired":[111],"in":[113,129,136,159],"order":[114,130],"make":[116],"traversed":[120],"faster":[121],"whereas":[123],"sacrificing":[124],"(traversal":[127],"time)":[128],"increase":[132],"safety.":[133],"weights":[135],"function":[139],"determine":[140],"relative":[142],"importance":[143],"competing":[146],"objectives.":[148],"In":[149],"case":[150],"traversal,":[152],"build":[154],"a":[155,193],"virtual":[156],"safety":[157],"corridor":[158],"horizon":[161],"quadrotors,":[163],"facilitates":[165],"scheme":[168],"extended":[171],"incorporate":[173],"obstacle":[174],"avoidance":[175],"by":[176],"adjusting":[177],"thus":[181],"re-plan":[182],"its":[183],"path.":[185],"performance":[188],"investigated":[190],"experimentally":[191],"realistic":[194],"dynamics":[195],"DJI":[198],"M100":[199],"platform.":[200],"simulation":[202],"results":[203],"demonstrate":[204],"effectiveness":[206],"proposed":[209],"algorithm.":[211]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
