{"id":"https://openalex.org/W7163526798","doi":"https://doi.org/10.1109/lra.2026.3700428","title":"Corridor-Driven Topological Planning With Nonlinear MPC for Agile Quadrotor Flight","display_name":"Corridor-Driven Topological Planning With Nonlinear MPC for Agile Quadrotor Flight","publication_year":2026,"publication_date":"2026-06-04","ids":{"openalex":"https://openalex.org/W7163526798","doi":"https://doi.org/10.1109/lra.2026.3700428"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2026.3700428","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3700428","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":true,"oa_status":"green","oa_url":"https://durham-repository.worktribe.com/output/5454042","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137838694","display_name":"Honghao Pan","orcid":null},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Honghao Pan","raw_affiliation_strings":["Department of Computer Science, Durham University, Durham, U.K"],"raw_orcid":"https://orcid.org/0009-0000-7958-2397","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Durham University, Durham, U.K","institution_ids":["https://openalex.org/I190082696"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100459499","display_name":"Hang Wang","orcid":"https://orcid.org/0000-0001-9876-8285"},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hang Wang","raw_affiliation_strings":["Department of Computer Science, Durham University, Durham, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Durham University, Durham, U.K","institution_ids":["https://openalex.org/I190082696"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137861280","display_name":"Farshad Arvin","orcid":null},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Farshad Arvin","raw_affiliation_strings":["Department of Computer Science, Durham University, Durham, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7950-3193","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Durham University, Durham, U.K","institution_ids":["https://openalex.org/I190082696"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5137917010","display_name":"Junyan Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Junyan Hu","raw_affiliation_strings":["Department of Computer Science, Durham University, Durham, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7409-3885","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Durham University, Durham, U.K","institution_ids":["https://openalex.org/I190082696"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I190082696"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.69698904,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"7","first_page":"8817","last_page":"8824"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.570900022983551,"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":0.570900022983551,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.07190000265836716,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.052400000393390656,"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/control-theory","display_name":"Control theory (sociology)","score":0.5572999715805054},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5437999963760376},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.35499998927116394},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.34860000014305115},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3375999927520752},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3107999861240387}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5572999715805054},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5437999963760376},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5117999911308289},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42590001225471497},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.35499998927116394},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.34860000014305115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34689998626708984},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3375999927520752},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3107999861240387},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.25929999351501465},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.2538999915122986},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2529999911785126},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2026.3700428","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3700428","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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:durham-repository.worktribe.com:5454042","is_oa":true,"landing_page_url":"https://durham-repository.worktribe.com/output/5454042","pdf_url":null,"source":{"id":"https://openalex.org/S4306400188","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:durham-repository.worktribe.com:5454042","is_oa":true,"landing_page_url":"https://durham-repository.worktribe.com/output/5454042","pdf_url":null,"source":{"id":"https://openalex.org/S4306400188","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.724860668182373,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Trajectory":[0],"planning":[1,27],"and":[2,13,28,48,109,112,117,131],"control":[3,29],"for":[4,31,88],"quadrotors":[5],"remain":[6],"challenging":[7],"when":[8],"aiming":[9],"to":[10,56],"achieve":[11,36],"agile":[12,32,126],"safe":[14,67],"flight":[15,127],"in":[16,134],"cluttered":[17],"environments.":[18,136],"In":[19],"this":[20,37,96],"paper,":[21],"we":[22,62,83],"present":[23],"a":[24,39,49,64,99],"corridor-driven":[25],"topological":[26,40],"framework":[30],"quadrotor":[33],"flight.":[34],"To":[35],"goal,":[38],"search":[41],"generates":[42],"multiple":[43],"homotopy":[44],"distinct":[45],"reference":[46,107],"paths,":[47],"time":[50,55],"optimal":[51,106],"problem":[52],"allocates":[53],"execution":[54],"provide":[57],"high":[58],"quality":[59],"initialisation.":[60],"Then,":[61],"propose":[63],"piecewise":[65],"parametric":[66],"corridor,":[68],"consisting":[69],"of":[70],"off-centred":[71],"elliptical":[72],"cross":[73],"sections":[74],"whose":[75],"parameters":[76],"vary":[77],"smoothly":[78],"with":[79],"the":[80,105,122],"path.":[81],"Additionally,":[82],"develop":[84],"an":[85],"efficient":[86],"reformulation":[87],"real-time":[89,132],"computation":[90],"while":[91],"preserving":[92],"continuity.":[93],"Based":[94],"on":[95],"corridor":[97,111,129],"representation,":[98],"nonlinear":[100],"model":[101],"predictive":[102],"controller":[103],"tracks":[104],"trajectory":[108],"enforces":[110],"dynamic":[113],"constraints.":[114],"Both":[115],"simulations":[116],"real-world":[118],"experiments":[119],"demonstrate":[120],"that":[121],"proposed":[123],"planner":[124],"achieves":[125],"under":[128],"constraints":[130],"performance":[133],"complex":[135]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-06-05T00:00:00"}
