{"id":"https://openalex.org/W4407449753","doi":"https://doi.org/10.1109/lra.2025.3541376","title":"A State-Time Space Approach for Local Trajectory Replanning of an MAV in Dynamic Indoor Environments","display_name":"A State-Time Space Approach for Local Trajectory Replanning of an MAV in Dynamic Indoor Environments","publication_year":2025,"publication_date":"2025-02-13","ids":{"openalex":"https://openalex.org/W4407449753","doi":"https://doi.org/10.1109/lra.2025.3541376"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3541376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3541376","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/A5060935898","display_name":"Fengyu Quan","orcid":"https://orcid.org/0000-0002-9430-2450"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengyu Quan","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-9430-2450","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040608327","display_name":"Yuanzhe Shen","orcid":"https://orcid.org/0009-0007-0694-9910"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanzhe Shen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0007-0694-9910","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028460299","display_name":"Peiyan Liu","orcid":"https://orcid.org/0000-0002-5774-5156"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peiyan Liu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-5774-5156","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049902495","display_name":"Ximin Lyu","orcid":"https://orcid.org/0000-0002-5204-5628"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ximin Lyu","raw_affiliation_strings":["School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China","School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen Campus, China"],"raw_orcid":"https://orcid.org/0000-0002-5204-5628","affiliations":[{"raw_affiliation_string":"School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen Campus, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072197068","display_name":"Haoyao Chen","orcid":"https://orcid.org/0000-0003-1652-9681"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyao Chen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-1652-9681","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.01536198,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"4","first_page":"3438","last_page":"3445"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.988099992275238,"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":0.988099992275238,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9811000227928162,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9563999772071838,"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/trajectory","display_name":"Trajectory","score":0.7232856154441833},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5918354392051697},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5784609317779541},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5622792840003967},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4157381057739258},{"id":"https://openalex.org/keywords/space-time","display_name":"Space time","score":0.41334396600723267},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36723196506500244},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19290584325790405},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1884254515171051},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17670100927352905},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16019120812416077},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10528284311294556}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7232856154441833},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5918354392051697},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5784609317779541},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5622792840003967},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4157381057739258},{"id":"https://openalex.org/C96402334","wikidata":"https://www.wikidata.org/wiki/Q3030793","display_name":"Space time","level":2,"score":0.41334396600723267},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36723196506500244},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19290584325790405},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1884254515171051},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17670100927352905},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16019120812416077},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10528284311294556},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3541376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3541376","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G122172205","display_name":null,"funder_award_id":"U21A20119","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3980671298","display_name":null,"funder_award_id":"U1713206","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1968478252","https://openalex.org/W1973734421","https://openalex.org/W2054585537","https://openalex.org/W2162991084","https://openalex.org/W2482392012","https://openalex.org/W2557430988","https://openalex.org/W2991583441","https://openalex.org/W3096342673","https://openalex.org/W3110737081","https://openalex.org/W3114626444","https://openalex.org/W3135798748","https://openalex.org/W3139367167","https://openalex.org/W3183413118","https://openalex.org/W3188485279","https://openalex.org/W3199843468","https://openalex.org/W3207644545","https://openalex.org/W4225120267","https://openalex.org/W4312416570","https://openalex.org/W4312578919","https://openalex.org/W4383172048","https://openalex.org/W4401414220","https://openalex.org/W6603032361"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W2383578611","https://openalex.org/W2987583674"],"abstract_inverted_index":{"Multirotor":[0],"aerial":[1],"vehicles":[2],"(MAVs)":[3],"in":[4,24,103],"confined,":[5],"dynamic":[6,105],"indoor":[7,104],"environments":[8],"need":[9],"reliable":[10],"planning":[11,20,87],"capabilities":[12],"to":[13,57],"avoid":[14],"moving":[15],"pedestrians.":[16],"Current":[17],"MAV":[18,85],"trajectory":[19,39,86],"algorithms":[21],"often":[22],"result":[23],"low":[25],"success":[26],"rates":[27],"or":[28],"unnecessary":[29],"constraints":[30],"on":[31,50,76],"navigable":[32],"space.":[33],"We":[34],"propose":[35],"a":[36],"multi-stage":[37],"local":[38],"planner":[40],"that":[41],"predicts":[42],"pedestrian":[43,90],"movements":[44],"using":[45],"State-Time":[46],"Space":[47],"(ST-space)":[48],"based":[49],"the":[51,96],"Euclidean":[52],"Signed":[53],"Distance":[54],"Field":[55],"(ESDF)":[56],"tackle":[58],"these":[59],"challenges.":[60],"Our":[61],"method":[62,80,102],"quickly":[63],"generates":[64],"collision-free":[65],"trajectories":[66],"by":[67],"incorporating":[68],"spatiotemporal":[69],"optimization":[70],"and":[71],"fast":[72],"ESDF":[73],"queries.":[74],"Based":[75],"statistical":[77],"analysis,":[78],"our":[79,100],"improves":[81],"performance":[82],"over":[83],"state-of-the-art":[84],"methods":[88],"as":[89],"speed":[91],"increases.":[92],"Finally,":[93],"we":[94],"validate":[95],"real-time":[97],"applicability":[98],"of":[99],"proposed":[101],"scenarios.":[106]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
