{"id":"https://openalex.org/W4411336718","doi":"https://doi.org/10.1109/lra.2025.3580318","title":"Non-Conservative Efficient Collision Checking and Depth Noise-Awareness for Trajectory Planning","display_name":"Non-Conservative Efficient Collision Checking and Depth Noise-Awareness for Trajectory Planning","publication_year":2025,"publication_date":"2025-06-16","ids":{"openalex":"https://openalex.org/W4411336718","doi":"https://doi.org/10.1109/lra.2025.3580318"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3580318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3580318","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/A5101495769","display_name":"Thai Binh Nguyen","orcid":"https://orcid.org/0000-0003-2942-9014"},"institutions":[{"id":"https://openalex.org/I149672521","display_name":"Federation University","ror":"https://ror.org/05qbzwv83","country_code":"AU","type":"education","lineage":["https://openalex.org/I149672521"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Binh Nguyen","raw_affiliation_strings":["Centre for Smart Analytics (CSA), Federation University, Churchill, VIC, Australia","Centre for Smart Analytics (CSA), Federation University, Victoria, Australia"],"raw_orcid":"https://orcid.org/0000-0003-2942-9014","affiliations":[{"raw_affiliation_string":"Centre for Smart Analytics (CSA), Federation University, Churchill, VIC, Australia","institution_ids":["https://openalex.org/I149672521"]},{"raw_affiliation_string":"Centre for Smart Analytics (CSA), Federation University, Victoria, Australia","institution_ids":["https://openalex.org/I149672521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010357798","display_name":"Manzur Murshed","orcid":"https://orcid.org/0000-0001-7079-9717"},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Manzur Murshed","raw_affiliation_strings":["School of Information Technology, Deakin University, Burwood, VIC, Australia","School of Information Technology, Deakin University, Victoria, Australia"],"raw_orcid":"https://orcid.org/0000-0001-7079-9717","affiliations":[{"raw_affiliation_string":"School of Information Technology, Deakin University, Burwood, VIC, Australia","institution_ids":["https://openalex.org/I149704539"]},{"raw_affiliation_string":"School of Information Technology, Deakin University, Victoria, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078742345","display_name":"Tanveer Choudhury","orcid":"https://orcid.org/0000-0002-9244-2708"},"institutions":[{"id":"https://openalex.org/I149672521","display_name":"Federation University","ror":"https://ror.org/05qbzwv83","country_code":"AU","type":"education","lineage":["https://openalex.org/I149672521"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tanveer Choudhury","raw_affiliation_strings":["Centre for Smart Analytics (CSA), Federation University, Churchill, VIC, Australia","Centre for Smart Analytics (CSA), Federation University, Victoria, Australia"],"raw_orcid":"https://orcid.org/0000-0002-9244-2708","affiliations":[{"raw_affiliation_string":"Centre for Smart Analytics (CSA), Federation University, Churchill, VIC, Australia","institution_ids":["https://openalex.org/I149672521"]},{"raw_affiliation_string":"Centre for Smart Analytics (CSA), Federation University, Victoria, Australia","institution_ids":["https://openalex.org/I149672521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083165662","display_name":"Kathleen Keogh","orcid":"https://orcid.org/0000-0001-5798-3659"},"institutions":[{"id":"https://openalex.org/I149672521","display_name":"Federation University","ror":"https://ror.org/05qbzwv83","country_code":"AU","type":"education","lineage":["https://openalex.org/I149672521"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Kathleen Keogh","raw_affiliation_strings":["Centre for Smart Analytics (CSA), Federation University, Churchill, VIC, Australia","Centre for Smart Analytics (CSA), Federation University, Victoria, Australia"],"raw_orcid":"https://orcid.org/0000-0001-5798-3659","affiliations":[{"raw_affiliation_string":"Centre for Smart Analytics (CSA), Federation University, Churchill, VIC, Australia","institution_ids":["https://openalex.org/I149672521"]},{"raw_affiliation_string":"Centre for Smart Analytics (CSA), Federation University, Victoria, Australia","institution_ids":["https://openalex.org/I149672521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038632124","display_name":"Gayan Kahandawa","orcid":"https://orcid.org/0000-0003-4926-1239"},"institutions":[{"id":"https://openalex.org/I149672521","display_name":"Federation University","ror":"https://ror.org/05qbzwv83","country_code":"AU","type":"education","lineage":["https://openalex.org/I149672521"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gayan Kahandawa Appuhamillage","raw_affiliation_strings":["Centre for Smart Analytics (CSA), Federation University, Churchill, VIC, Australia","Centre for Smart Analytics (CSA), Federation University, Victoria, Australia"],"raw_orcid":"https://orcid.org/0000-0003-4926-1239","affiliations":[{"raw_affiliation_string":"Centre for Smart Analytics (CSA), Federation University, Churchill, VIC, Australia","institution_ids":["https://openalex.org/I149672521"]},{"raw_affiliation_string":"Centre for Smart Analytics (CSA), Federation University, Victoria, Australia","institution_ids":["https://openalex.org/I149672521"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051920398","display_name":"Linh Nguyen","orcid":"https://orcid.org/0000-0001-5360-886X"},"institutions":[{"id":"https://openalex.org/I149672521","display_name":"Federation University","ror":"https://ror.org/05qbzwv83","country_code":"AU","type":"education","lineage":["https://openalex.org/I149672521"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Linh Nguyen","raw_affiliation_strings":["Centre for Smart Analytics (CSA), Federation University, Churchill, VIC, Australia","Centre for Smart Analytics (CSA), Federation University, Victoria, Australia"],"raw_orcid":"https://orcid.org/0000-0001-5360-886X","affiliations":[{"raw_affiliation_string":"Centre for Smart Analytics (CSA), Federation University, Churchill, VIC, Australia","institution_ids":["https://openalex.org/I149672521"]},{"raw_affiliation_string":"Centre for Smart Analytics (CSA), Federation University, Victoria, Australia","institution_ids":["https://openalex.org/I149672521"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"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":0.11874622,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"8","first_page":"7859","last_page":"7866"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994000196456909,"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/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/T10142","display_name":"Formal Methods in Verification","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/trajectory","display_name":"Trajectory","score":0.7756916284561157},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6929602026939392},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5779818296432495},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4916883111000061},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.41347599029541016},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2373831868171692},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2178514301776886},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.128225177526474}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7756916284561157},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6929602026939392},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5779818296432495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4916883111000061},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.41347599029541016},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2373831868171692},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2178514301776886},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.128225177526474},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3580318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3580318","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":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1551821758","https://openalex.org/W2016285927","https://openalex.org/W2769498435","https://openalex.org/W2900612440","https://openalex.org/W2966015075","https://openalex.org/W3009542919","https://openalex.org/W3174299515","https://openalex.org/W3188485279","https://openalex.org/W3202883604","https://openalex.org/W4286434201","https://openalex.org/W4313049632","https://openalex.org/W4387682177","https://openalex.org/W4387848936","https://openalex.org/W4389884363","https://openalex.org/W4399801783","https://openalex.org/W4401414687","https://openalex.org/W4402401288"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"<bold":[3,13],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[4,7,10,14,16],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">MIDI</b>":[5],"(<bold":[6],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">M</b>inimum":[8],"d<bold":[9],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">I</b>stance-based":[11],"and":[12,27,73,89,102],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">D</b>epth-no<bold":[15],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">I</b>se-aware),":[17],"a":[18],"novel":[19],"trajectory":[20,42,59,71,83,104,128],"planner":[21,119],"that":[22,39,120,133],"introduces":[23],"non-conservative":[24,101,155],"collision":[25,90,105],"checking":[26],"depth":[28,53,123,145],"noise":[29],"awareness":[30],"for":[31,92],"robust":[32,140],"autonomous":[33],"navigation.":[34],"Unlike":[35],"existing":[36],"collision-checking":[37],"approaches":[38],"rely":[40],"on":[41],"discretization":[43,72],"or":[44],"geometric":[45,79],"approximations":[46],"of":[47,111,160,182],"free":[48,77,161],"space,":[49,162],"MIDI":[50,98,114,134],"evaluates":[51],"each":[52],"pixel":[54],"independently":[55],"against":[56],"an":[57,186],"entire":[58],"at":[60],"once.":[61],"Thus,":[62],"it":[63],"bypasses":[64],"both":[65,100],"the":[66,109,116,180],"notorious":[67],"grid-size":[68],"problem":[69],"in":[70,76,96,164,169,185],"conservativeness":[74],"inherent":[75],"space":[78],"approximations.":[80],"Leveraging":[81],"polynomial":[82],"properties":[84],"to":[85,108,178],"compute":[86],"minimum":[87],"distances":[88],"probabilities":[91],"all":[93],"obstacle":[94],"points":[95],"closed-form,":[97],"facilitates":[99],"real-time":[103],"checking.":[106],"Moreover,":[107],"best":[110],"our":[112,183],"knowledge,":[113],"is":[115],"first":[117],"memoryless":[118,137],"explicitly":[121],"incorporates":[122],"uncertainty":[124],"information":[125],"into":[126],"online":[127],"planning.":[129],"Extensive":[130],"simulations":[131],"show":[132,150],"outperforms":[135],"state-of-the-art":[136],"planners,":[138],"maintaining":[139],"performance":[141],"even":[142],"under":[143],"severe":[144],"noise,":[146],"where":[147],"competing":[148],"methods":[149],"significant":[151],"degradation.":[152],"The":[153],"algorithm's":[154],"nature":[156],"enables":[157],"better":[158],"utilization":[159],"resulting":[163],"notably":[165],"lower":[166],"incompletion":[167],"rates":[168],"cluttered":[170],"environments.":[171],"Finally,":[172],"real-world":[173],"flight":[174],"trials":[175],"were":[176],"conducted":[177],"validate":[179],"effectiveness":[181],"approach":[184],"actual":[187],"quadrotor.":[188]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}