{"id":"https://openalex.org/W4289829308","doi":"https://doi.org/10.1109/med54222.2022.9837293","title":"Fast Planner for MAV Navigation in Unknown Environments Based on Adaptive Search of Safe Look-Ahead Poses","display_name":"Fast Planner for MAV Navigation in Unknown Environments Based on Adaptive Search of Safe Look-Ahead Poses","publication_year":2022,"publication_date":"2022-06-28","ids":{"openalex":"https://openalex.org/W4289829308","doi":"https://doi.org/10.1109/med54222.2022.9837293"},"language":"en","primary_location":{"id":"doi:10.1109/med54222.2022.9837293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med54222.2022.9837293","pdf_url":null,"source":{"id":"https://openalex.org/S4363608151","display_name":"2022 30th Mediterranean Conference on Control and Automation (MED)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 30th 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":"https://zenodo.org/record/7513684","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045184642","display_name":"Akash Patel","orcid":"https://orcid.org/0000-0001-6616-8007"},"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":true,"raw_author_name":"Akash Patel","raw_affiliation_strings":["Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,SE-97187"],"affiliations":[{"raw_affiliation_string":"Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,SE-97187","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090279927","display_name":"Bj\u00f6rn Lindqvist","orcid":"https://orcid.org/0000-0003-3922-1735"},"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":"Bjorn Lindqvist","raw_affiliation_strings":["Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,SE-97187"],"affiliations":[{"raw_affiliation_string":"Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,SE-97187","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":["Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,SE-97187"],"affiliations":[{"raw_affiliation_string":"Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,SE-97187","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":["Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,SE-97187"],"affiliations":[{"raw_affiliation_string":"Luleå University of Technology,Robotics and AI Team,Department of Computer, Electrical and Space Engineering,Luleå,Sweden,SE-97187","institution_ids":["https://openalex.org/I190632392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5045184642"],"corresponding_institution_ids":["https://openalex.org/I190632392"],"apc_list":null,"apc_paid":null,"fwci":0.1196,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.39723208,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"545","last_page":"550"},"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":0.9968000054359436,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9811999797821045,"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/planner","display_name":"Planner","score":0.7518702745437622},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.65572190284729},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6390138864517212},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6171007752418518},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.6109126210212708},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5631766319274902},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5370570421218872},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5320319533348083},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5103194117546082},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.45951783657073975},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4480566680431366},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4433443546295166},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.42907634377479553},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42036116123199463},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4174189567565918},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08688682317733765},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.08588775992393494},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07345649600028992}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7518702745437622},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.65572190284729},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6390138864517212},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6171007752418518},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.6109126210212708},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5631766319274902},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5370570421218872},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5320319533348083},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5103194117546082},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.45951783657073975},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4480566680431366},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4433443546295166},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42907634377479553},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42036116123199463},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4174189567565918},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08688682317733765},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.08588775992393494},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07345649600028992},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/med54222.2022.9837293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med54222.2022.9837293","pdf_url":null,"source":{"id":"https://openalex.org/S4363608151","display_name":"2022 30th Mediterranean Conference on Control and Automation (MED)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 30th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"},{"id":"pmh:oai:zenodo.org:7513684","is_oa":true,"landing_page_url":"https://zenodo.org/record/7513684","pdf_url":"https://zenodo.org/record/7513684","source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:7513684","is_oa":true,"landing_page_url":"https://zenodo.org/record/7513684","pdf_url":"https://zenodo.org/record/7513684","source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[{"score":0.6499999761581421,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4289829308.pdf","grobid_xml":"https://content.openalex.org/works/W4289829308.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1975762674","https://openalex.org/W2107667896","https://openalex.org/W2133844819","https://openalex.org/W2465948386","https://openalex.org/W2608018532","https://openalex.org/W2765727120","https://openalex.org/W2892746432","https://openalex.org/W2903902823","https://openalex.org/W2967828032","https://openalex.org/W3004272334","https://openalex.org/W3033312021","https://openalex.org/W3105740176","https://openalex.org/W3149798409","https://openalex.org/W3190043085","https://openalex.org/W3198239826","https://openalex.org/W3209325542","https://openalex.org/W3209659690","https://openalex.org/W3215745779","https://openalex.org/W4286977643","https://openalex.org/W4287262265"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2991662304","https://openalex.org/W3119736302","https://openalex.org/W2794689129","https://openalex.org/W4381746183","https://openalex.org/W2785353696"],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1,25,73,93],"capability":[2],"is":[3,29,126,163],"a":[4,17,40,154,167,184],"crucial":[5],"part":[6],"for":[7,21,100,114,157,178],"deploying":[8],"robots":[9],"in":[10,26,39,110,123,146,176,183],"an":[11],"unknown":[12],"environment.":[13,187],"In":[14],"this":[15,124],"article":[16,84,125],"reactive":[18,173],"local":[19,66,174],"planner":[20,175],"autonomous":[22,92],"and":[23,94,151],"safe":[24,155],"subterranean":[27,185],"environment":[28,51],"presented.":[30],"The":[31,55,97,120,161],"proposed":[32,56,98,172],"planning":[33,57,134],"framework":[34],"navigates":[35],"the":[36,44,50,63,69,79,83,88,102,111,139,171,179],"MAV":[37,45,70,168,180],"forward":[38,159],"tunnel":[41],"such":[42,117],"that":[43],"gains":[46],"more":[47],"information":[48,64],"about":[49],"while":[52],"avoiding":[53],"obstacles.":[54],"architecture":[58],"works":[59],"solely":[60],"based":[61,132],"on":[62],"of":[65,68,78,82,91,106],"surrounding":[67],"thus,":[71],"making":[72],"simple":[74],"yet":[75],"fast.":[76],"One":[77],"biggest":[80],"novelties":[81],"comes":[85],"from":[86,129,144],"solving":[87],"combined":[89],"problem":[90],"obstacle":[95],"avoidance.":[96],"algorithm":[99],"selecting":[101],"next":[103,140],"way":[104,118,141,147],"point":[105,142,148],"interest":[107],"also":[108,127],"accounts":[109],"safety":[112],"margin":[113],"traversing":[115],"to":[116,181],"point.":[119],"approach":[121,162],"presented":[122],"different":[128],"classical":[130],"map":[131],"global":[133],"algorithms":[135],"because":[136],"it":[137],"favours":[138],"away":[143],"obstacles":[145],"selection":[149],"process":[150],"thus":[152],"providing":[153],"path":[156],"incremental":[158],"navigation.":[160],"validated":[164],"by":[165],"simulating":[166],"equipped":[169],"with":[170],"order":[177],"navigate":[182],"cave":[186]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}