{"id":"https://openalex.org/W4391768881","doi":"https://doi.org/10.1109/itsc57777.2023.10422507","title":"Path Planning for Drone Delivery in Dense Building Environments","display_name":"Path Planning for Drone Delivery in Dense Building Environments","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391768881","doi":"https://doi.org/10.1109/itsc57777.2023.10422507"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422507","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422507","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","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/A5001984245","display_name":"Xinting Hu","orcid":"https://orcid.org/0000-0003-0305-3653"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Xinting Hu","raw_affiliation_strings":["Air Traffic Management Research Institute, School of Mechanical and Aerospace Engineering, Nanyang Technological University,Singapore,637460"],"affiliations":[{"raw_affiliation_string":"Air Traffic Management Research Institute, School of Mechanical and Aerospace Engineering, Nanyang Technological University,Singapore,637460","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036039427","display_name":"Yu Wu","orcid":"https://orcid.org/0000-0002-9319-9498"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Wu","raw_affiliation_strings":["College of Aerospace Engineering, Chongqing University,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"College of Aerospace Engineering, Chongqing University,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041798384","display_name":"Bizhao Pang","orcid":"https://orcid.org/0000-0003-1497-5493"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Bizhao Pang","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University,Singapore,639798"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5001984245"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":0.4745,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.66686674,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5542","last_page":"5547"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9969000220298767,"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":0.9969000220298767,"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/drone","display_name":"Drone","score":0.8710024356842041},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.671381950378418},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5439515113830566},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5364691615104675},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.394081175327301},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.38418763875961304},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26079538464546204},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24638089537620544},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18425551056861877},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1110067367553711}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8710024356842041},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.671381950378418},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5439515113830566},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5364691615104675},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.394081175327301},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.38418763875961304},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26079538464546204},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24638089537620544},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18425551056861877},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1110067367553711},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422507","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422507","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/170161","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/170161","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5400000214576721,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1121271761","display_name":null,"funder_award_id":"Program","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1771858652","display_name":null,"funder_award_id":"210245","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3034753964","display_name":null,"funder_award_id":"grant","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6693303728","display_name":null,"funder_award_id":"52102453","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320320709","display_name":"National Research Foundation Singapore","ror":"https://ror.org/03cpyc314"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1676016401","https://openalex.org/W2808139755","https://openalex.org/W2890401641","https://openalex.org/W2901703238","https://openalex.org/W2914868364","https://openalex.org/W3009362096","https://openalex.org/W3016709002","https://openalex.org/W3034950178","https://openalex.org/W3042039801","https://openalex.org/W3048896029","https://openalex.org/W3091576395","https://openalex.org/W3097771457","https://openalex.org/W3128772914","https://openalex.org/W3165042204","https://openalex.org/W3185888439","https://openalex.org/W3204444418","https://openalex.org/W4214667729","https://openalex.org/W4224986553"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4247925126","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3154539612"],"abstract_inverted_index":{"Drones":[0],"have":[1],"been":[2],"introduced":[3],"into":[4],"urban":[5,22],"environments":[6],"to":[7,31,91],"facilitate":[8],"our":[9,100],"life":[10],"such":[11],"as":[12],"cargo":[13],"delivery":[14],"services.":[15],"However,":[16],"the":[17,32,59,93,105,109],"densely":[18],"located":[19],"buildings":[20],"in":[21,116,132],"areas":[23],"pose":[24],"challenges":[25],"for":[26,113],"safe":[27],"drone":[28],"operations":[29],"due":[30],"collision":[33],"risk":[34],"with":[35,64,126],"buildings.":[36],"To":[37],"address":[38],"this":[39],"challenge,":[40],"we":[41],"propose":[42],"a":[43,83,127],"path":[44,114],"planning":[45,115],"method":[46,102],"that":[47,99],"leverages":[48],"an":[49,65,70],"improved":[50],"ant":[51],"colony":[52],"optimization":[53],"(IACO)":[54],"algorithm.":[55],"The":[56],"algorithm":[57],"improves":[58],"standard":[60],"setting":[61],"of":[62,73,111],"ACO":[63],"adaptive":[66],"parameter":[67],"mechanism":[68,72,90],"and":[69,108,135],"update":[71],"pheromone":[74],"intensity.":[75],"A":[76],"further":[77],"improvement":[78],"is":[79],"made":[80],"by":[81],"introducing":[82],"rapidly":[84],"exploring":[85],"random":[86],"tree":[87],"(RRT)":[88],"based":[89],"improve":[92],"search":[94],"efficiency.":[95],"Simulation":[96],"results":[97],"demonstrate":[98],"proposed":[101],"significantly":[103],"increases":[104],"convergence":[106,130],"rate":[107,131],"quality":[110],"solutions":[112,125],"complex":[117],"city":[118],"environments.":[119,137],"It":[120],"can":[121],"consistently":[122],"produce":[123],"satisfactory":[124],"more":[128],"rapid":[129],"both":[133],"two-dimensional":[134],"three-dimensional":[136]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}