{"id":"https://openalex.org/W4383504021","doi":"https://doi.org/10.1109/lra.2023.3293355","title":"Bat Planner: Aggressive Flying Ball Player","display_name":"Bat Planner: Aggressive Flying Ball Player","publication_year":2023,"publication_date":"2023-07-07","ids":{"openalex":"https://openalex.org/W4383504021","doi":"https://doi.org/10.1109/lra.2023.3293355"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3293355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3293355","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5101406468","display_name":"Huan Yu","orcid":"https://orcid.org/0000-0002-7425-0876"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huan Yu","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","Robotics Institute of Zhejiang University, Zhejiang University, Hangzhou, China","Robotics Research Center of Yuyao City, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0002-7425-0876","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Robotics Institute of Zhejiang University, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Robotics Research Center of Yuyao City, Ningbo, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101804906","display_name":"Jie Tu","orcid":"https://orcid.org/0000-0003-3712-9927"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Tu","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","Robotics Institute of Zhejiang University, Zhejiang University, Hangzhou, China","Robotics Research Center of Yuyao City, Ningbo, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Robotics Institute of Zhejiang University, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Robotics Research Center of Yuyao City, Ningbo, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009163586","display_name":"Pengqin Wang","orcid":"https://orcid.org/0000-0002-8560-3665"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Pengqin Wang","raw_affiliation_strings":["Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-8560-3665","affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072284152","display_name":"Zhi Zheng","orcid":"https://orcid.org/0000-0001-9770-8176"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Zheng","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","Robotics Institute of Zhejiang University, Zhejiang University, Hangzhou, China","Robotics Research Center of Yuyao City, Ningbo, China"],"raw_orcid":"https://orcid.org/0000-0001-9770-8176","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Robotics Institute of Zhejiang University, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Robotics Research Center of Yuyao City, Ningbo, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002149105","display_name":"Kewen Zhang","orcid":"https://orcid.org/0009-0001-4649-5008"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kewen Zhang","raw_affiliation_strings":["Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0001-4649-5008","affiliations":[{"raw_affiliation_string":"Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110371869","display_name":"Guodong Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guodong Lu","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","Robotics Research Center of Yuyao City, Ningbo, China","Robotics Institute of Zhejiang University, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Robotics Research Center of Yuyao City, Ningbo, China","institution_ids":[]},{"raw_affiliation_string":"Robotics Institute of Zhejiang University, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086914377","display_name":"Fei Gao","orcid":"https://orcid.org/0000-0002-6513-374X"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Gao","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, College of Control Science and Engineering, Zhejiang University, Hangzhou, China","Huzhou Institute, Zhejiang University, Huzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-6513-374X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]},{"raw_affiliation_string":"Huzhou Institute, Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100346212","display_name":"Jin Wang","orcid":"https://orcid.org/0000-0003-3106-021X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Wang","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","Robotics Research Center of Yuyao City, Ningbo, China","Robotics Institute of Zhejiang University, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-3106-021X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Robotics Research Center of Yuyao City, Ningbo, China","institution_ids":[]},{"raw_affiliation_string":"Robotics Institute of Zhejiang University, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3919,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.54389536,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"8","issue":"9","first_page":"5307","last_page":"5314"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9958999752998352,"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":0.9958999752998352,"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/T12677","display_name":"Sports Dynamics and Biomechanics","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11574","display_name":"Artificial Intelligence in Games","score":0.9835000038146973,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/ball","display_name":"Ball (mathematics)","score":0.7888975143432617},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5744777917861938},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5649237632751465},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3381650745868683},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30506354570388794},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25683945417404175},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10447898507118225}],"concepts":[{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.7888975143432617},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5744777917861938},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5649237632751465},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3381650745868683},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30506354570388794},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25683945417404175},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10447898507118225},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3293355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3293355","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-128856","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-128856","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8270744966","display_name":null,"funder_award_id":"52175032","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"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":19,"referenced_works":["https://openalex.org/W1704276703","https://openalex.org/W2051434435","https://openalex.org/W2096045964","https://openalex.org/W2098432798","https://openalex.org/W2162991084","https://openalex.org/W2171461698","https://openalex.org/W2181845023","https://openalex.org/W2207101628","https://openalex.org/W2256578114","https://openalex.org/W2790068406","https://openalex.org/W2790374560","https://openalex.org/W2990376862","https://openalex.org/W3037785630","https://openalex.org/W3129576667","https://openalex.org/W3135798748","https://openalex.org/W3158362201","https://openalex.org/W4200313134","https://openalex.org/W4312908419","https://openalex.org/W4383428329"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4391375266","https://openalex.org/W1979597421","https://openalex.org/W2007980826","https://openalex.org/W2061531152","https://openalex.org/W3002753104","https://openalex.org/W2077600819","https://openalex.org/W2142036596","https://openalex.org/W2072657027"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"an":[3,76],"aggressive":[4,190],"quadrotor":[5,33,233],"ball":[6,20,63,207,234,240],"playing":[7],"system":[8],"called":[9],"Bat":[10,30,181,227],"is":[11,15,64,138,179,228],"proposed,":[12,139],"whose":[13],"goal":[14],"to":[16,35,45,88,187,218,238],"intercept":[17,36],"a":[18,25,108,121,134,161,232],"flying":[19,206],"and":[21,42,72,80,116,148,154,165,198,216],"volley":[22],"it":[23],"towards":[24],"designated":[26],"target.":[27],"Aggressive":[28],"means":[29],"operates":[31],"the":[32,53,62,69,85,90,96,130,144,176,205,222,230],"aggressively":[34],"balls":[37,212],"that":[38,50,180],"are":[39,51,170,201],"far":[40],"away":[41],"hit":[43,210],"them":[44],"distant":[46],"positions":[47],"in":[48],"ways":[49],"beyond":[52],"reach":[54],"of":[55,61,98,124,196,224],"existing":[56,177],"methods.":[57],"The":[58,172],"trajectory":[59,135],"prediction":[60],"achieved":[65],"by":[66],"integrating":[67],"forward":[68],"current":[70],"position":[71],"velocity":[73],"estimates":[74],"using":[75],"extended":[77],"kalman":[78],"filter,":[79],"implementing":[81],"cubic":[82],"interpolation":[83],"at":[84],"time":[86,149],"resolution":[87],"calculate":[89],"continuous":[91],"gradient":[92],"for":[93],"optimization.":[94],"Facing":[95],"challenge":[97],"finding":[99],"feasible":[100],"hitting":[101,117,126,132,145],"actions":[102],"under":[103],"extreme":[104],"circumstances,":[105],"we":[106],"propose":[107],"two-stage":[109],"planning":[110],"approach,":[111],"including":[112],"transition":[113],"point":[114],"design":[115],"primitive":[118],"generation,":[119],"with":[120],"simplified":[122],"expression":[123],"uncoupled":[125],"actions.":[127],"To":[128,157,221],"obtain":[129],"best":[131,223],"motion,":[133],"optimization":[136],"method":[137,169],"which":[140,203],"can":[141,183,209],"jointly":[142],"optimize":[143],"terminal":[146],"states":[147],"cost,":[150],"considering":[151],"dynamic":[152],"feasibility":[153],"anticollision":[155],"constraints.":[156],"avoid":[158],"pathological":[159],"hitting,":[160],"defensive":[162],"rule":[163],"constraint":[164,167],"its":[166],"transcription":[168],"proposed.":[171],"largest":[173],"difference":[174],"from":[175,213],"methods":[178],"Planner":[182],"independently":[184],"decide":[185],"how":[186],"execute":[188],"more":[189],"keyvolleying":[191],"maneuvers.":[192],"A":[193],"large":[194],"number":[195],"simulation":[197],"real-world":[199],"experiments":[200],"conducted,":[202],"prove":[204],"player":[208,235],"arriving":[211],"different":[214],"directions":[215],"distances":[217],"arbitrary":[219],"targets.":[220],"our":[225],"knowledge,":[226],"currently":[229],"closest":[231],"has":[236],"approached":[237],"human":[239],"players'":[241],"volleying":[242],"ability.":[243]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2025-10-10T00:00:00"}