{"id":"https://openalex.org/W4408941168","doi":"https://doi.org/10.1109/lra.2025.3555937","title":"Intent Prediction-Driven Model Predictive Control for UAV Planning and Navigation in Dynamic Environments","display_name":"Intent Prediction-Driven Model Predictive Control for UAV Planning and Navigation in Dynamic Environments","publication_year":2025,"publication_date":"2025-03-29","ids":{"openalex":"https://openalex.org/W4408941168","doi":"https://doi.org/10.1109/lra.2025.3555937"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3555937","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3555937","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/A5022255218","display_name":"Zhefan Xu","orcid":"https://orcid.org/0000-0002-9395-9549"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhefan Xu","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9395-9549","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030165264","display_name":"Hanyu Jin","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanyu Jin","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0009-0008-4015-2347","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xinming Han","orcid":"https://orcid.org/0009-0006-4386-4687"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xinming Han","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0009-0006-4386-4687","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Haoyu Shen","orcid":"https://orcid.org/0009-0002-4752-6811"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haoyu Shen","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0009-0002-4752-6811","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101724128","display_name":"Kenji Shimada","orcid":"https://orcid.org/0000-0001-8827-672X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kenji Shimada","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8827-672X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.659,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.9886372,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"10","issue":"5","first_page":"4946","last_page":"4953"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","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/T10791","display_name":"Advanced Control Systems Optimization","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.994700014591217,"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/model-predictive-control","display_name":"Model predictive control","score":0.6956712603569031},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6130524277687073},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.456851065158844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28298598527908325}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6956712603569031},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6130524277687073},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.456851065158844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28298598527908325}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3555937","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3555937","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":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2031327653","https://openalex.org/W2158955701","https://openalex.org/W2424778531","https://openalex.org/W2909324603","https://openalex.org/W2962787639","https://openalex.org/W2963001155","https://openalex.org/W2967177252","https://openalex.org/W3026389972","https://openalex.org/W3034314779","https://openalex.org/W3089858107","https://openalex.org/W3091067209","https://openalex.org/W3114626444","https://openalex.org/W3132907331","https://openalex.org/W3133110313","https://openalex.org/W3135067689","https://openalex.org/W4210423514","https://openalex.org/W4221095669","https://openalex.org/W4313591698","https://openalex.org/W4318301868","https://openalex.org/W4318624660","https://openalex.org/W4327624012","https://openalex.org/W4382365360","https://openalex.org/W4383066227","https://openalex.org/W4383066353","https://openalex.org/W4383109145","https://openalex.org/W4383890361","https://openalex.org/W4386432245","https://openalex.org/W4386634641","https://openalex.org/W4386766559","https://openalex.org/W4388820033","https://openalex.org/W4405785447"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2390279801","https://openalex.org/W2101188133","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W2556120871"],"abstract_inverted_index":{"Aerial":[0],"robots":[1,48],"can":[2,74],"enhance":[3],"construction":[4],"site":[5],"productivity":[6],"by":[7,170],"autonomously":[8],"handling":[9],"inspection":[10],"and":[11,42,61,97,103,108,112,158],"mapping":[12],"tasks.":[13],"However,":[14],"ensuring":[15],"safe":[16],"navigation":[17,24,90,155,169],"near":[18],"human":[19],"workers":[20],"remains":[21,35],"challenging.":[22],"While":[23],"in":[25,40,58],"static":[26],"environments":[27,34,73],"has":[28],"been":[29],"well":[30],"studied,":[31],"navigating":[32],"dynamic":[33,72,105,133],"open":[36],"due":[37],"to":[38,49,128,153,176],"challenges":[39],"perception":[41,60,100],"planning.":[43,98],"Payload":[44],"limitations":[45],"restrict":[46],"the":[47,67,77,136,166,172],"using":[50],"cameras":[51],"with":[52,135],"limited":[53],"fields":[54],"of":[55,71,132,168],"view,":[56],"resulting":[57],"unreliable":[59],"tracking":[62,110],"during":[63,114],"collision":[64,115],"avoidance.":[65,116],"Moreover,":[66],"rapidly":[68],"changing":[69],"conditions":[70],"quickly":[75],"make":[76],"generated":[78],"optimal":[79],"trajectory":[80],"outdated.To":[81],"address":[82],"these":[83],"challenges,":[84],"this":[85],"letter":[86],"presents":[87],"a":[88,123,141],"comprehensive":[89],"framework":[91],"that":[92,162],"integrates":[93],"perception,":[94],"intent":[95,119],"prediction,":[96],"Our":[99],"module":[101,121],"detects":[102],"tracks":[104],"obstacles":[106,134],"efficiently":[107],"handles":[109],"loss":[111],"occlusion":[113],"The":[117],"proposed":[118],"prediction":[120],"employs":[122],"Markov":[124],"Decision":[125],"Process":[126],"(MDP)":[127],"forecast":[129],"potential":[130],"actions":[131],"possible":[137],"future":[138],"trajectories.":[139,156],"Finally,":[140],"novel":[142],"intent-based":[143],"planning":[144],"algorithm,":[145],"leveraging":[146],"model":[147],"predictive":[148],"control":[149],"(MPC),":[150],"is":[151],"applied":[152],"generate":[154],"Simulation":[157],"physical":[159],"experiments":[160],"demonstrate":[161],"our":[163],"method":[164],"improves":[165],"safety":[167],"achieving":[171],"fewest":[173],"collisions":[174],"compared":[175],"benchmarks.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}