{"id":"https://openalex.org/W3049571893","doi":"https://doi.org/10.1109/med48518.2020.9183227","title":"Collision Free Path Planning based on Local 2D Point-Clouds for MAV Navigation","display_name":"Collision Free Path Planning based on Local 2D Point-Clouds for MAV Navigation","publication_year":2020,"publication_date":"2020-09-01","ids":{"openalex":"https://openalex.org/W3049571893","doi":"https://doi.org/10.1109/med48518.2020.9183227","mag":"3049571893"},"language":"en","primary_location":{"id":"doi:10.1109/med48518.2020.9183227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med48518.2020.9183227","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 28th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-79108","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090279927","display_name":"Bj\u00f6rn Lindqvist","orcid":"https://orcid.org/0000-0003-3922-1735"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Bjorn Lindqvist","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023682583","display_name":"Sina Sharif Mansouri","orcid":"https://orcid.org/0000-0001-7631-002X"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Sina Sharif Mansouri","raw_affiliation_strings":["A Robotics Team, Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology"],"affiliations":[{"raw_affiliation_string":"A Robotics Team, Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039277979","display_name":"Christoforos Kanellakis","orcid":"https://orcid.org/0000-0001-8870-6718"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Christoforos Kanellakis","raw_affiliation_strings":["A Robotics Team, Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology"],"affiliations":[{"raw_affiliation_string":"A Robotics Team, Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064878830","display_name":"George Nikolakopoulos","orcid":"https://orcid.org/0000-0003-0126-1897"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"George Nikolakopoulos","raw_affiliation_strings":["A Robotics Team, Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology"],"affiliations":[{"raw_affiliation_string":"A Robotics Team, Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology","institution_ids":["https://openalex.org/I190632392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5090279927"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0977,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.3938294,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"538","last_page":"543"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9966999888420105,"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"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9943000078201294,"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/motion-planning","display_name":"Motion planning","score":0.7008272409439087},{"id":"https://openalex.org/keywords/backup","display_name":"Backup","score":0.6837255954742432},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6715015172958374},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6545605659484863},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6433682441711426},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.609110951423645},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.577575147151947},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5479034781455994},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5470781922340393},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.48727715015411377},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4692271649837494},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4611284136772156},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.43352964520454407},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.420011043548584},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4125567376613617},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37039393186569214},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09688577055931091},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.08926713466644287},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07678541541099548},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06392788887023926}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7008272409439087},{"id":"https://openalex.org/C2780945871","wikidata":"https://www.wikidata.org/wiki/Q194274","display_name":"Backup","level":2,"score":0.6837255954742432},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6715015172958374},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6545605659484863},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6433682441711426},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.609110951423645},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.577575147151947},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5479034781455994},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5470781922340393},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.48727715015411377},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4692271649837494},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4611284136772156},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.43352964520454407},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.420011043548584},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4125567376613617},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37039393186569214},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09688577055931091},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.08926713466644287},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07678541541099548},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06392788887023926},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/med48518.2020.9183227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med48518.2020.9183227","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 28th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"},{"id":"pmh:oai:DiVA.org:ltu-79108","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-79108","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:ltu-79108","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-79108","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1489121212","https://openalex.org/W1893135903","https://openalex.org/W2012594493","https://openalex.org/W2019738489","https://openalex.org/W2053407718","https://openalex.org/W2142924305","https://openalex.org/W2167340365","https://openalex.org/W2186443504","https://openalex.org/W2467663293","https://openalex.org/W2604780662","https://openalex.org/W2618092744","https://openalex.org/W2789773866","https://openalex.org/W2903902823","https://openalex.org/W2950312551","https://openalex.org/W2963011664","https://openalex.org/W2994627688","https://openalex.org/W3006295588","https://openalex.org/W3046596703"],"related_works":["https://openalex.org/W2955195711","https://openalex.org/W2354454611","https://openalex.org/W2993266126","https://openalex.org/W2392283887","https://openalex.org/W2351388597","https://openalex.org/W2939925694","https://openalex.org/W2829881200","https://openalex.org/W4241986464","https://openalex.org/W2184647741","https://openalex.org/W4381746183"],"abstract_inverted_index":{"The":[0,65,88,109],"usage":[1],"of":[2,15,55,94],"Micro":[3],"Aerial":[4],"Vehicles":[5],"(MAVs)":[6],"in":[7,28,45,85,114],"different":[8],"applications":[9],"is":[10,19,112],"gaining":[11],"attention,":[12],"however":[13],"one":[14],"the":[16,26,53,56,86,92,95],"main":[17],"challenges":[18],"to":[20,101],"provide":[21],"collision":[22],"free":[23],"paths,":[24],"despite":[25],"uncertainties":[27],"localization,":[29,57],"mapping,":[30],"or":[31],"path":[32,40,68],"planning.":[33],"This":[34],"article":[35],"proposes":[36],"a":[37,74,79,115,122],"novel":[38],"collision-free":[39,123],"planner":[41,69],"for":[42,73],"MAVs":[43],"navigation":[44],"confined":[46],"environments,":[47],"while":[48,77],"not":[49],"being":[50],"dependent":[51],"on":[52,60],"information":[54],"only":[58],"relying":[59],"2D":[61],"local":[62],"point-cloud":[63],"data.":[64],"proposed":[66,89,110],"backup":[67],"generates":[70],"velocity":[71],"commands":[72],"trajectory-following":[75],"controller,":[76],"guaranteeing":[78],"safety":[80],"distance":[81],"from":[82],"all":[83],"points":[84],"local-point-cloud.":[87],"method":[90,111],"considers":[91],"kinematics":[93],"MAV":[96],"and":[97,119],"can":[98],"be":[99],"extended":[100],"any":[102],"robotics":[103],"application,":[104],"such":[105],"as":[106],"ground":[107],"vehicles.":[108],"evaluated":[113],"Gazebo":[116],"simulation":[117],"environment":[118],"successfully":[120],"provides":[121],"navigation.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}