{"id":"https://openalex.org/W4406611574","doi":"https://doi.org/10.1109/smc54092.2024.10831196","title":"MorphoMove: Bi-Modal Path Planner with MPC-based Path Follower for Multi-Limb Morphogenetic UAV","display_name":"MorphoMove: Bi-Modal Path Planner with MPC-based Path Follower for Multi-Limb Morphogenetic UAV","publication_year":2024,"publication_date":"2024-10-06","ids":{"openalex":"https://openalex.org/W4406611574","doi":"https://doi.org/10.1109/smc54092.2024.10831196"},"language":"en","primary_location":{"id":"doi:10.1109/smc54092.2024.10831196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc54092.2024.10831196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-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/A5105424964","display_name":"Muhammad Ahsan Mustafa","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Muhammad Ahsan Mustafa","raw_affiliation_strings":["Skolkovo Institute of Science and Technology (Skoltech),Intelligent Space Robotics Laboratory, CDE,Moscow,Russia"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology (Skoltech),Intelligent Space Robotics Laboratory, CDE,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104621266","display_name":"Yasheerah Yaqoot","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Yasheerah Yaqoot","raw_affiliation_strings":["Skolkovo Institute of Science and Technology (Skoltech),Intelligent Space Robotics Laboratory, CDE,Moscow,Russia"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology (Skoltech),Intelligent Space Robotics Laboratory, CDE,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003489972","display_name":"Mikhail Martynov","orcid":"https://orcid.org/0000-0001-9529-9786"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Mikhail Martynov","raw_affiliation_strings":["Skolkovo Institute of Science and Technology (Skoltech),Intelligent Space Robotics Laboratory, CDE,Moscow,Russia"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology (Skoltech),Intelligent Space Robotics Laboratory, CDE,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053158063","display_name":"Sausar Karaf","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Sausar Karaf","raw_affiliation_strings":["Skolkovo Institute of Science and Technology (Skoltech),Intelligent Space Robotics Laboratory, CDE,Moscow,Russia"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology (Skoltech),Intelligent Space Robotics Laboratory, CDE,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056458774","display_name":"Dzmitry Tsetserukou","orcid":"https://orcid.org/0000-0001-8055-5345"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dzmitry Tsetserukou","raw_affiliation_strings":["Skolkovo Institute of Science and Technology (Skoltech),Intelligent Space Robotics Laboratory, CDE,Moscow,Russia"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology (Skoltech),Intelligent Space Robotics Laboratory, CDE,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5105424964"],"corresponding_institution_ids":["https://openalex.org/I125989756"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26522618,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1820","last_page":"1825"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9976999759674072,"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/modal","display_name":"Modal","score":0.7511366605758667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6287842988967896},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6214765310287476},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6170167326927185},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5630629062652588},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3373711109161377},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24856680631637573},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1873834729194641},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.044597625732421875},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.040089935064315796},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.0393047034740448}],"concepts":[{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.7511366605758667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6287842988967896},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6214765310287476},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6170167326927185},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5630629062652588},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3373711109161377},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24856680631637573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1873834729194641},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.044597625732421875},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.040089935064315796},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0393047034740448},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc54092.2024.10831196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc54092.2024.10831196","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1267233886","display_name":null,"funder_award_id":"24-41-02039","funder_id":"https://openalex.org/F4320306201","funder_display_name":"Russell Sage Foundation"}],"funders":[{"id":"https://openalex.org/F4320306201","display_name":"Russell Sage Foundation","ror":"https://ror.org/02yh9se80"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W1982809790","https://openalex.org/W2547345216","https://openalex.org/W2842089854","https://openalex.org/W3007590580","https://openalex.org/W3116259232","https://openalex.org/W3142410314","https://openalex.org/W4200470117","https://openalex.org/W4254859361","https://openalex.org/W4313575331","https://openalex.org/W4382050690","https://openalex.org/W4382050897","https://openalex.org/W4385482440","https://openalex.org/W4387123299","https://openalex.org/W4391307399","https://openalex.org/W6696955428"],"related_works":["https://openalex.org/W2155467318","https://openalex.org/W122632647","https://openalex.org/W2060743914","https://openalex.org/W2359600231","https://openalex.org/W187779371","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"developments":[3,112],"for":[4,63],"a":[5,57,100,126],"multi-limb":[6],"morphogenetic":[7],"UAV,":[8],"MorphoGear,":[9],"that":[10],"is":[11,51,87],"capable":[12],"of":[13,96,103,116],"both":[14,132],"aerial":[15,133],"flight":[16],"and":[17,99,134],"ground":[18,54],"locomotion.":[19],"A":[20],"hybrid":[21],"path":[22,49],"planning":[23],"algorithm":[24],"based":[25],"on":[26],"the":[27,73,90,109,114],"A*":[28],"strategy":[29],"has":[30],"been":[31],"developed,":[32],"enabling":[33],"seamless":[34],"transition":[35],"between":[36],"air-to-ground":[37],"navigation":[38,119],"modes,":[39],"thereby":[40],"enhancing":[41],"robot's":[42],"mobility":[43],"in":[44,72,118,129],"complex":[45],"environments.":[46],"Moreover,":[47],"precise":[48],"following":[50],"achieved":[52],"during":[53],"locomotion":[55],"with":[56],"Model":[58],"Predictive":[59],"Control":[60],"(MPC)":[61],"architecture":[62],"its":[64],"novel":[65],"walking":[66],"behaviour.":[67],"Experimental":[68],"validation":[69],"was":[70],"conducted":[71],"Unity":[74],"simulation":[75],"environment":[76],"utilizing":[77],"Python":[78],"scripts":[79],"to":[80],"compute":[81],"control":[82],"values.":[83],"The":[84],"algorithm's":[85],"performance":[86],"validated":[88],"by":[89,108],"Root":[91],"Mean":[92],"Squared":[93],"Error":[94],"(RMSE)":[95],"0.91":[97],"cm":[98],"maximum":[101],"error":[102],"1.85":[104],"cm,":[105],"as":[106,125],"demonstrated":[107],"results.":[110],"These":[111],"highlight":[113],"adaptability":[115],"MorphoGear":[117],"through":[120],"cluttered":[121],"environments,":[122],"establishing":[123],"it":[124],"usable":[127],"tool":[128],"autonomous":[130],"exploration,":[131],"ground-based.":[135]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}