{"id":"https://openalex.org/W3125676991","doi":"https://doi.org/10.1109/ssrr50563.2020.9292599","title":"A Generalization of the CHOMP Algorithm for UAV Collision-Free Trajectory Generation in Unknown Dynamic Environments","display_name":"A Generalization of the CHOMP Algorithm for UAV Collision-Free Trajectory Generation in Unknown Dynamic Environments","publication_year":2020,"publication_date":"2020-11-04","ids":{"openalex":"https://openalex.org/W3125676991","doi":"https://doi.org/10.1109/ssrr50563.2020.9292599","mag":"3125676991"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr50563.2020.9292599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292599","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5037820078","display_name":"Jiayu Men","orcid":"https://orcid.org/0000-0002-9186-9566"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Jiayu Men","raw_affiliation_strings":["Queen Mary University of London,Department of Electrical Engineering and Computer Science"],"affiliations":[{"raw_affiliation_string":"Queen Mary University of London,Department of Electrical Engineering and Computer Science","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026903199","display_name":"Jes\u00fas Requena Carri\u00f3n","orcid":"https://orcid.org/0000-0003-4667-3342"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jesus Requena Carrion","raw_affiliation_strings":["Queen Mary University of London,Department of Electrical Engineering and Computer Science"],"affiliations":[{"raw_affiliation_string":"Queen Mary University of London,Department of Electrical Engineering and Computer Science","institution_ids":["https://openalex.org/I166337079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5037820078"],"corresponding_institution_ids":["https://openalex.org/I166337079"],"apc_list":null,"apc_paid":null,"fwci":0.1954,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.52248437,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"96","last_page":"101"},"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":0.9977999925613403,"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/T12158","display_name":"Guidance and Control Systems","score":0.9864000082015991,"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/computer-science","display_name":"Computer science","score":0.7298498749732971},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7207133769989014},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7087695598602295},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6397683620452881},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.6071173548698425},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5457696914672852},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.512372612953186},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.45311981439590454},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4406309723854065},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.42539867758750916},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.4147002398967743},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39180788397789},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3405601680278778},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3029065728187561},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2821442186832428},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22584319114685059},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.13898515701293945},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1134987473487854},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10632294416427612}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7298498749732971},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7207133769989014},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7087695598602295},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6397683620452881},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.6071173548698425},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5457696914672852},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.512372612953186},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.45311981439590454},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4406309723854065},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.42539867758750916},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.4147002398967743},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39180788397789},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3405601680278778},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3029065728187561},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2821442186832428},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22584319114685059},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.13898515701293945},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1134987473487854},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10632294416427612},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr50563.2020.9292599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292599","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1704276703","https://openalex.org/W1966579280","https://openalex.org/W1982864753","https://openalex.org/W2060303868","https://openalex.org/W2081544843","https://openalex.org/W2099893201","https://openalex.org/W2105934661","https://openalex.org/W2107567160","https://openalex.org/W2107664584","https://openalex.org/W2112222053","https://openalex.org/W2129973382","https://openalex.org/W2150093133","https://openalex.org/W2161819990","https://openalex.org/W2162991084","https://openalex.org/W2165139660","https://openalex.org/W2414314951","https://openalex.org/W2482392012","https://openalex.org/W2564322318","https://openalex.org/W2608775622","https://openalex.org/W2743282526","https://openalex.org/W2772356073","https://openalex.org/W2891491652","https://openalex.org/W2949691147","https://openalex.org/W2990075320","https://openalex.org/W2991621923","https://openalex.org/W3006593729","https://openalex.org/W3009220630","https://openalex.org/W3102365391","https://openalex.org/W4255045719","https://openalex.org/W6646126701","https://openalex.org/W6715860361","https://openalex.org/W6760069399"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2023024008","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1911254468","https://openalex.org/W1506523185","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404"],"abstract_inverted_index":{"Unmanned":[0],"Aerial":[1],"Vehicles":[2],"(UAVs)":[3],"are":[4,18,117],"being":[5],"used":[6],"in":[7,22,32,47,105,124],"an":[8,48],"increasing":[9],"number":[10],"of":[11,59,86,94,115],"application":[12],"areas.":[13],"In":[14,36],"many":[15],"applications,":[16],"UAVs":[17],"expected":[19],"to":[20,43,77,129],"operate":[21],"unknown":[23,49],"environments":[24],"with":[25,51,97,102,120],"dynamic":[26,52,88],"obstacles,":[27,53],"hence":[28],"the":[29,56,84,87,92,113,125],"growing":[30],"interest":[31],"autonomous":[33],"navigation":[34],"systems.":[35],"this":[37],"work,":[38],"we":[39],"propose":[40],"a":[41,106,121],"method":[42,96],"generate":[44],"collision-free":[45],"trajectories":[46],"environment":[50],"by":[54,82],"extending":[55],"usual":[57],"notion":[58],"collision":[60],"cost":[61],"penalty":[62],"into":[63],"Dynamic":[64,69,73],"Obstacle":[65],"Cost,":[66],"calculated":[67],"using":[68],"Cost":[70,74],"Map.":[71],"The":[72],"Map":[75],"allows":[76],"identify":[78],"future":[79],"potential":[80],"collisions":[81],"modelling":[83],"movements":[85],"obstacles.":[89],"We":[90],"compare":[91],"performances":[93],"our":[95],"conventional":[98],"CHOMP":[99],"and":[100],"A*":[101],"polynomial":[103],"smoothing":[104],"simulation":[107],"environment.":[108],"Our":[109],"results":[110],"show":[111],"that":[112],"times":[114],"replanning":[116,131],"drastically":[118],"reduced":[119],"limited":[122],"increase":[123],"computing":[126],"time":[127],"associated":[128],"each":[130],"task.":[132]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
