{"id":"https://openalex.org/W4313146150","doi":"https://doi.org/10.1109/taes.2022.3213230","title":"UAV Path Planning in 3-D Constrained Environments Based on Layered Essential Visibility Graphs","display_name":"UAV Path Planning in 3-D Constrained Environments Based on Layered Essential Visibility Graphs","publication_year":2022,"publication_date":"2022-10-10","ids":{"openalex":"https://openalex.org/W4313146150","doi":"https://doi.org/10.1109/taes.2022.3213230"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2022.3213230","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2022.3213230","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054793396","display_name":"Luciano Blasi","orcid":"https://orcid.org/0000-0001-5927-352X"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luciano Blasi","raw_affiliation_strings":["Department of Engineering, University of Campania “L. Vanvitelli”, Aversa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-5927-352X","affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Campania “L. Vanvitelli”, Aversa, Italy","institution_ids":["https://openalex.org/I197809005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050399810","display_name":"Egidio D\u2019Amato","orcid":"https://orcid.org/0000-0002-2766-3862"},"institutions":[{"id":"https://openalex.org/I183638586","display_name":"Parthenope University of Naples","ror":"https://ror.org/05pcv4v03","country_code":"IT","type":"education","lineage":["https://openalex.org/I183638586"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Egidio D'Amato","raw_affiliation_strings":["Department of Science and Technology, University of Naples “Parthenope”, Napoli, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2766-3862","affiliations":[{"raw_affiliation_string":"Department of Science and Technology, University of Naples “Parthenope”, Napoli, Italy","institution_ids":["https://openalex.org/I183638586"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018460472","display_name":"M. Mattei","orcid":"https://orcid.org/0000-0001-7951-6584"},"institutions":[{"id":"https://openalex.org/I71267560","display_name":"University of Naples Federico II","ror":"https://ror.org/05290cv24","country_code":"IT","type":"education","lineage":["https://openalex.org/I71267560"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimiliano Mattei","raw_affiliation_strings":["Department of Electrical Engineering and Information Technologies, University of Naples “Federico II”, Napoli, Italy"],"raw_orcid":"https://orcid.org/0000-0001-7951-6584","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technologies, University of Naples “Federico II”, Napoli, Italy","institution_ids":["https://openalex.org/I71267560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039848174","display_name":"Immacolata Notaro","orcid":"https://orcid.org/0000-0001-7997-039X"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Immacolata Notaro","raw_affiliation_strings":["Department of Engineering, University of Campania “L. Vanvitelli”, Aversa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-7997-039X","affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Campania “L. Vanvitelli”, Aversa, Italy","institution_ids":["https://openalex.org/I197809005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.4521,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.9402373,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"59","issue":"3","first_page":"2359","last_page":"2375"},"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":0.9923999905586243,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9836999773979187,"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":0.6944938898086548},{"id":"https://openalex.org/keywords/visibility-graph","display_name":"Visibility graph","score":0.672017514705658},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5813421010971069},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5756224989891052},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5735759735107422},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5683706402778625},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5584850311279297},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5436179041862488},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.536528468132019},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.523345410823822},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.4285042881965637},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2665752172470093},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2188199758529663},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1249493956565857},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11993208527565002}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6944938898086548},{"id":"https://openalex.org/C173362246","wikidata":"https://www.wikidata.org/wiki/Q8216024","display_name":"Visibility graph","level":3,"score":0.672017514705658},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5813421010971069},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5756224989891052},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5735759735107422},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5683706402778625},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5584850311279297},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5436179041862488},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.536528468132019},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.523345410823822},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.4285042881965637},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2665752172470093},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2188199758529663},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1249493956565857},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11993208527565002},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","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/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/taes.2022.3213230","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2022.3213230","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:ricerca.uniparthenope.it:11367/111276","is_oa":false,"landing_page_url":"https://hdl.handle.net/11367/111276","pdf_url":null,"source":{"id":"https://openalex.org/S4377196432","display_name":"CINECA IRIS Institutial research information system (Parthenope University of Naples)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183638586","host_organization_name":"Parthenope University of Naples","host_organization_lineage":["https://openalex.org/I183638586"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W167756786","https://openalex.org/W1874694348","https://openalex.org/W1977545325","https://openalex.org/W1984505032","https://openalex.org/W1988053224","https://openalex.org/W1992106482","https://openalex.org/W1993730936","https://openalex.org/W1995965025","https://openalex.org/W2019586060","https://openalex.org/W2023148409","https://openalex.org/W2024905920","https://openalex.org/W2027391043","https://openalex.org/W2031351246","https://openalex.org/W2032895458","https://openalex.org/W2033052486","https://openalex.org/W2046888405","https://openalex.org/W2049105030","https://openalex.org/W2078219854","https://openalex.org/W2086086997","https://openalex.org/W2112784922","https://openalex.org/W2118425327","https://openalex.org/W2127154035","https://openalex.org/W2130957631","https://openalex.org/W2149384754","https://openalex.org/W2152427109","https://openalex.org/W2153219011","https://openalex.org/W2155873302","https://openalex.org/W2157932003","https://openalex.org/W2163178194","https://openalex.org/W2163434689","https://openalex.org/W2169528473","https://openalex.org/W2170220350","https://openalex.org/W2171409677","https://openalex.org/W2233296499","https://openalex.org/W2313274380","https://openalex.org/W2317568091","https://openalex.org/W2463394261","https://openalex.org/W2602889778","https://openalex.org/W2754311268","https://openalex.org/W2754479591","https://openalex.org/W2790412092","https://openalex.org/W2800027611","https://openalex.org/W2883947723","https://openalex.org/W2914020290","https://openalex.org/W2953195108","https://openalex.org/W2968631359","https://openalex.org/W3048981156","https://openalex.org/W3092132455","https://openalex.org/W3118331990"],"related_works":["https://openalex.org/W2743652671","https://openalex.org/W2911638885","https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W2106119116","https://openalex.org/W2614449343","https://openalex.org/W2904203243","https://openalex.org/W2044243445"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"an":[3,71,137,194],"optimal":[4,96,138,164],"path":[5,99,141],"search":[6,156],"methodology":[7,176],"for":[8],"unmanned":[9],"aerial":[10],"vehicles":[11],"(UAVs)":[12],"flying":[13],"in":[14,110,184],"3-D":[15,43,130,140],"environments":[16],"is":[17,39,68,77,177],"presented,":[18],"taking":[19],"into":[20,121],"account":[21,122],"the":[22,42,47,64,95,104,154,159,163,168,174],"presence":[23],"of":[24,53,80,84,112,132,147,162,173,181],"obstacles":[25,48],"and":[26,75,86,114,193],"other":[27],"constraints":[28],"deriving":[29],"from":[30],"flight":[31],"dynamics.":[32],"The":[33,60,145,171],"so-called":[34],"essential":[35],"visibility":[36],"graph":[37,155],"(EVG)":[38],"extended":[40],"to":[41],"case":[44],"by":[45,179],"describing":[46],"using":[49],"a":[50,81,90,124,129,148,189],"finite":[51],"number":[52,83],"parallel":[54],"planar":[55],"layers":[56],"at":[57],"different":[58],"altitudes.":[59],"resulting":[61],"graph,":[62],"called":[63],"layered":[65],"EVG":[66],"(LEVG),":[67],"based":[69,127],"on":[70,128],"efficient":[72],"branching":[73],"algorithm":[74],"it":[76],"made":[78],"up":[79],"reduced":[82],"nodes":[85],"edges":[87],"thus":[88],"assuring":[89],"limited":[91],"computational":[92],"burden.":[93],"Once":[94],"piece-wise":[97],"linear":[98],"has":[100],"been":[101],"identified":[102],"over":[103,188],"LEVG,":[105],"aircraft":[106],"performance-related":[107],"constraints,":[108],"formulated":[109],"terms":[111],"turn":[113],"pull-up":[115],"radii":[116],"limits,":[117],"can":[118,142],"be":[119,143],"taken":[120],"via":[123],"smoothing":[125],"procedure":[126],"extension":[131],"Dubins'":[133],"paradigm.":[134],"This":[135],"way":[136],"flyable":[139],"obtained.":[144],"implementation":[146],"specific":[149],"integer":[150],"programming":[151],"formulation":[152],"within":[153],"process":[157],"ensures":[158],"full":[160],"compliance":[161],"smoothed":[165],"trajectory":[166],"with":[167],"environmental":[169],"constraints.":[170],"effectiveness":[172],"proposed":[175],"proved":[178],"means":[180],"numerical":[182],"tests":[183],"complex":[185],"operational":[186],"scenarios":[187],"real":[190],"terrain":[191],"morphology":[192],"urban":[195],"environment.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}