{"id":"https://openalex.org/W2744418077","doi":"https://doi.org/10.1109/romoco.2017.8003909","title":"Two-scale geometric path planning of quadrotor with obstacle avoidance: First step toward coverage algorithm","display_name":"Two-scale geometric path planning of quadrotor with obstacle avoidance: First step toward coverage algorithm","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2744418077","doi":"https://doi.org/10.1109/romoco.2017.8003909","mag":"2744418077"},"language":"en","primary_location":{"id":"doi:10.1109/romoco.2017.8003909","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2017.8003909","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 11th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01625850","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035814822","display_name":"Yasser Bouzid","orcid":"https://orcid.org/0000-0002-8400-9912"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210107733","display_name":"Informatique, BioInformatique, Syst\u00e8mes Complexes","ror":"https://ror.org/01aqxgr98","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210107733","https://openalex.org/I88467170"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Y. Bouzid","raw_affiliation_strings":["IBISC, Universit\u00e9 Paris-Saclay, France","IBISC - Informatique, Biologie Int\u00e9grative et Syst\u00e8mes Complexes (40 rue du Pelvoux, Courcouronnes ; 91020 Evry Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IBISC, Universit\u00e9 Paris-Saclay, France","institution_ids":["https://openalex.org/I277688954"]},{"raw_affiliation_string":"IBISC - Informatique, Biologie Int\u00e9grative et Syst\u00e8mes Complexes (40 rue du Pelvoux, Courcouronnes ; 91020 Evry Cedex - France)","institution_ids":["https://openalex.org/I4210107733"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047613183","display_name":"Yasmina Bestaoui","orcid":"https://orcid.org/0000-0001-7716-5952"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210107733","display_name":"Informatique, BioInformatique, Syst\u00e8mes Complexes","ror":"https://ror.org/01aqxgr98","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210107733","https://openalex.org/I88467170"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Y. Bestaoui","raw_affiliation_strings":["IBISC, Universit\u00e9 Paris-Saclay, France","IBISC - Informatique, Biologie Int\u00e9grative et Syst\u00e8mes Complexes (40 rue du Pelvoux, Courcouronnes ; 91020 Evry Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IBISC, Universit\u00e9 Paris-Saclay, France","institution_ids":["https://openalex.org/I277688954"]},{"raw_affiliation_string":"IBISC - Informatique, Biologie Int\u00e9grative et Syst\u00e8mes Complexes (40 rue du Pelvoux, Courcouronnes ; 91020 Evry Cedex - France)","institution_ids":["https://openalex.org/I4210107733"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5104532818","display_name":"Houria Siguerdidjane","orcid":"https://orcid.org/0000-0002-6990-6463"},"institutions":[{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"H. Siguerdidjane","raw_affiliation_strings":["L2S, Universit\u00e9 Paris-Saclay, France","L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"L2S, Universit\u00e9 Paris-Saclay, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I4210097418"]},{"raw_affiliation_string":"L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)","institution_ids":["https://openalex.org/I4210097418"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3184,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.67362228,"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":"166","last_page":"171"},"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/T12158","display_name":"Guidance and Control Systems","score":0.9932000041007996,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.989799976348877,"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":0.7364553809165955},{"id":"https://openalex.org/keywords/travelling-salesman-problem","display_name":"Travelling salesman problem","score":0.7349730134010315},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.6799888014793396},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.6254452466964722},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5984682440757751},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5978103876113892},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5602373480796814},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5580235719680786},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5292638540267944},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.5141816139221191},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4686051607131958},{"id":"https://openalex.org/keywords/yens-algorithm","display_name":"Yen's algorithm","score":0.46126893162727356},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4554855227470398},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35755354166030884},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19370383024215698},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.17334124445915222},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.158602774143219},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09162691235542297},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.08414798974990845},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.06852391362190247}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7364553809165955},{"id":"https://openalex.org/C175859090","wikidata":"https://www.wikidata.org/wiki/Q322212","display_name":"Travelling salesman problem","level":2,"score":0.7349730134010315},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.6799888014793396},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.6254452466964722},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5984682440757751},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5978103876113892},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5602373480796814},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5580235719680786},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5292638540267944},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.5141816139221191},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4686051607131958},{"id":"https://openalex.org/C119971455","wikidata":"https://www.wikidata.org/wiki/Q8052172","display_name":"Yen's algorithm","level":5,"score":0.46126893162727356},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4554855227470398},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35755354166030884},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19370383024215698},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.17334124445915222},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.158602774143219},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09162691235542297},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.08414798974990845},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.06852391362190247},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/romoco.2017.8003909","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2017.8003909","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 11th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01625850v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01625850","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"11th International Workshop on Robot Motion and Control (RoMoCo 2017), Jul 2017, Wasowo, Poland. pp.166--171, ⟨10.1109/RoMoCo.2017.8003909⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01625850v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01625850","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"11th International Workshop on Robot Motion and Control (RoMoCo 2017), Jul 2017, Wasowo, Poland. pp.166--171, ⟨10.1109/RoMoCo.2017.8003909⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W2013724094","https://openalex.org/W2032481799","https://openalex.org/W2052976867","https://openalex.org/W2071401582","https://openalex.org/W2101057866","https://openalex.org/W2104782147","https://openalex.org/W2128990851","https://openalex.org/W2130957631","https://openalex.org/W2192586580"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3119736302","https://openalex.org/W2375775343","https://openalex.org/W3200041777","https://openalex.org/W2368964068","https://openalex.org/W4386464271","https://openalex.org/W2562562750","https://openalex.org/W2360981904","https://openalex.org/W2348076806"],"abstract_inverted_index":{"In":[0,51],"this":[1],"paper,":[2],"a":[3,24,47],"quadrotor":[4,18],"path-planning":[5],"problem":[6,42],"while":[7],"avoiding":[8],"obstacles,":[9],"in":[10,86],"different":[11],"shapes":[12],"and":[13],"sizes,":[14],"is":[15,19,43,63,94,113],"considered.":[16],"The":[17,41,107],"assumed":[20],"to":[21,33,65,73],"pass":[22],"by":[23,45,82,96],"set":[25],"of":[26,78,109],"scattered":[27],"points":[28],"or":[29],"regions":[30],"defined":[31],"according":[32],"the":[34,38,52,67,79,83,87,90,98,110],"desired":[35],"mission":[36],"following":[37],"shortest":[39,68,92],"path.":[40],"solved":[44],"using":[46,103],"two-scale":[48],"proposed":[49,111],"algorithm.":[50],"first":[53],"scale,":[54,89],"multi-directional":[55],"optimal":[56],"Rapidly-exploring":[57],"Random":[58],"Trees":[59],"(RRT)":[60],"based":[61],"algorithm":[62,112],"used":[64],"define":[66],"paths":[69],"from":[70],"each":[71],"point":[72],"its":[74],"neighbors.":[75],"By":[76],"means":[77],"inter-costs":[80],"provides":[81],"first-scale":[84],"algorithm,":[85],"second":[88],"overall":[91],"path":[93],"obtained":[95],"solving":[97],"Traveling":[99],"Salesman":[100],"Problem":[101],"(TSP)":[102],"Genetic":[104],"Algorithms":[105],"(GA).":[106],"effectiveness":[108],"verified":[114],"with":[115],"numerical":[116],"simulations.":[117]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}