{"id":"https://openalex.org/W3103247180","doi":"https://doi.org/10.1109/taes.2020.3037417","title":"Fast Generation of Chance-Constrained Flight Trajectory for Unmanned Vehicles","display_name":"Fast Generation of Chance-Constrained Flight Trajectory for Unmanned Vehicles","publication_year":2020,"publication_date":"2020-11-12","ids":{"openalex":"https://openalex.org/W3103247180","doi":"https://doi.org/10.1109/taes.2020.3037417","mag":"3103247180"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2020.3037417","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2020.3037417","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://dspace.lib.cranfield.ac.uk/handle/1826/16489","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024866488","display_name":"Runqi Chai","orcid":"https://orcid.org/0000-0003-4083-8863"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Runqi Chai","raw_affiliation_strings":["Cranfield University, Cranfield, U.K"],"raw_orcid":"https://orcid.org/0000-0003-4083-8863","affiliations":[{"raw_affiliation_string":"Cranfield University, Cranfield, U.K","institution_ids":["https://openalex.org/I82284825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085012064","display_name":"Antonios Tsourdos","orcid":"https://orcid.org/0000-0002-3966-7633"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Antonios Tsourdos","raw_affiliation_strings":["Cranfield University, Cranfield, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3966-7633","affiliations":[{"raw_affiliation_string":"Cranfield University, Cranfield, U.K","institution_ids":["https://openalex.org/I82284825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102861951","display_name":"Al Savvaris","orcid":"https://orcid.org/0000-0003-3210-5838"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Al Savvaris","raw_affiliation_strings":["Cranfield University, Cranfield, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cranfield University, Cranfield, U.K","institution_ids":["https://openalex.org/I82284825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100639215","display_name":"Shuo Wang","orcid":"https://orcid.org/0000-0002-1390-9219"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Wang","raw_affiliation_strings":["Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1390-9219","affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064231378","display_name":"Yuanqing Xia","orcid":"https://orcid.org/0000-0002-5977-4911"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanqing Xia","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5977-4911","affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070349528","display_name":"Senchun Chai","orcid":"https://orcid.org/0000-0003-1910-1795"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Senchun Chai","raw_affiliation_strings":["Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1910-1795","affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.307,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.89336849,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"57","issue":"2","first_page":"1028","last_page":"1045"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9950000047683716,"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":0.9950000047683716,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9855999946594238,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9807000160217285,"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/mathematical-optimization","display_name":"Mathematical optimization","score":0.7135867476463318},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7056657671928406},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.6323138475418091},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.5449011921882629},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5395898222923279},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.48444512486457825},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.47331392765045166},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44954344630241394},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4465060234069824},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.437829852104187},{"id":"https://openalex.org/keywords/convexity","display_name":"Convexity","score":0.43538758158683777},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42390093207359314},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.38382241129875183},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3452335596084595},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.34262484312057495},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1556626856327057},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09651455283164978},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09448829293251038}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.7135867476463318},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7056657671928406},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.6323138475418091},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.5449011921882629},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5395898222923279},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.48444512486457825},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47331392765045166},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44954344630241394},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4465060234069824},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.437829852104187},{"id":"https://openalex.org/C72134830","wikidata":"https://www.wikidata.org/wiki/Q5166524","display_name":"Convexity","level":2,"score":0.43538758158683777},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42390093207359314},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.38382241129875183},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3452335596084595},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.34262484312057495},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1556626856327057},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09651455283164978},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09448829293251038},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/taes.2020.3037417","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2020.3037417","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"},{"id":"pmh:oai:dspace.lib.cranfield.ac.uk:1826/16489","is_oa":true,"landing_page_url":"https://dspace.lib.cranfield.ac.uk/handle/1826/16489","pdf_url":null,"source":{"id":"https://openalex.org/S4306401778","display_name":"CERES (Cranfield University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82284825","host_organization_name":"Cranfield University","host_organization_lineage":["https://openalex.org/I82284825"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:dspace.lib.cranfield.ac.uk:1826/16489","is_oa":true,"landing_page_url":"https://dspace.lib.cranfield.ac.uk/handle/1826/16489","pdf_url":null,"source":{"id":"https://openalex.org/S4306401778","display_name":"CERES (Cranfield University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82284825","host_organization_name":"Cranfield University","host_organization_lineage":["https://openalex.org/I82284825"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6499999761581421,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1982100856","https://openalex.org/W1982889614","https://openalex.org/W1996959266","https://openalex.org/W2004743525","https://openalex.org/W2041177669","https://openalex.org/W2048825531","https://openalex.org/W2099506495","https://openalex.org/W2100931887","https://openalex.org/W2104246659","https://openalex.org/W2107345353","https://openalex.org/W2112784922","https://openalex.org/W2115205590","https://openalex.org/W2129516068","https://openalex.org/W2130527887","https://openalex.org/W2133826865","https://openalex.org/W2146380167","https://openalex.org/W2342918308","https://openalex.org/W2513178932","https://openalex.org/W2569014801","https://openalex.org/W2580733212","https://openalex.org/W2583935484","https://openalex.org/W2736214474","https://openalex.org/W2771296312","https://openalex.org/W2771883739","https://openalex.org/W2773917540","https://openalex.org/W2774276467","https://openalex.org/W2781572223","https://openalex.org/W2790412092","https://openalex.org/W2790624030","https://openalex.org/W2902723719","https://openalex.org/W2907389444","https://openalex.org/W2908850135","https://openalex.org/W2912849082","https://openalex.org/W2921591222","https://openalex.org/W2998974207","https://openalex.org/W3003379256","https://openalex.org/W3102244603","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W1964872188","https://openalex.org/W2187391117","https://openalex.org/W1981809986","https://openalex.org/W2949367465","https://openalex.org/W2003479292","https://openalex.org/W3135469233","https://openalex.org/W2997189060","https://openalex.org/W4404692753","https://openalex.org/W4395060245","https://openalex.org/W4403954200"],"abstract_inverted_index":{"In":[0],"this":[1,164],"article,":[2],"a":[3,74,115],"fast":[4],"chance-constrained":[5,159],"trajectory":[6,34],"generation":[7],"strategy":[8],"incorporating":[9],"convex":[10,13,75,87],"optimization":[11,35,85,109,160],"and":[12,56,123,152],"approximation":[14,88],"of":[15,42,107,117,125,131],"chance":[16],"constraints":[17,82,96],"is":[18,37,65,144],"designed":[19],"so":[20],"as":[21],"to":[22,67,146],"solve":[23],"the":[24,40,43,47,51,57,69,80,84,94,105,108,121,126,141],"unmanned":[25,32],"vehicle":[26,33],"path":[27],"planning":[28],"problem.":[29],"A":[30,129],"path-length-optimal":[31],"model":[36],"constructed":[38],"with":[39,79],"consideration":[41],"pitch":[44],"angle":[45],"constraint,":[46,50,55],"curvature":[48],"radius":[49],"probabilistic":[52,58,81,95],"control":[53],"actuation":[54],"collision":[59],"avoidance":[60],"constraint.":[61],"Subsequently,":[62],"convexification":[63],"technique":[64],"introduced":[66,91],"convert":[68],"nonlinear":[70],"problem":[71],"formulation":[72],"into":[73],"form.":[76],"To":[77],"deal":[78],"in":[83,163],"model,":[86],"techniques":[89],"are":[90,97],"such":[92],"that":[93,140],"replaced":[98],"by":[99],"deterministic":[100],"ones":[101],"while":[102],"simultaneously":[103],"preserving":[104],"convexity":[106],"model.":[110],"Numerical":[111],"results,":[112],"obtained":[113],"from":[114],"number":[116,130],"case":[118],"studies,":[119],"validate":[120],"effectiveness":[122],"reliability":[124],"proposed":[127,142],"approach.":[128],"comparative":[132],"studies":[133],"were":[134],"also":[135],"performed.":[136],"The":[137],"results":[138],"confirm":[139],"design":[143],"able":[145],"produce":[147],"more":[148],"optimal":[149],"flight":[150],"paths":[151],"achieve":[153],"enhanced":[154],"computational":[155],"performance":[156],"than":[157],"other":[158],"approaches":[161],"investigated":[162],"article.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":4}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}