{"id":"https://openalex.org/W4401387049","doi":"https://doi.org/10.1109/taes.2024.3439673","title":"Perception-Aware Based Quadrotor Translation and Yaw Angle Planner in Unpredictable Dynamic Situations","display_name":"Perception-Aware Based Quadrotor Translation and Yaw Angle Planner in Unpredictable Dynamic Situations","publication_year":2024,"publication_date":"2024-08-07","ids":{"openalex":"https://openalex.org/W4401387049","doi":"https://doi.org/10.1109/taes.2024.3439673"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2024.3439673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2024.3439673","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/A5058840766","display_name":"Hanxuan Zhang","orcid":"https://orcid.org/0000-0002-7516-8209"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanxuan Zhang","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-7516-8209","affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101595654","display_name":"Ju Huo","orcid":"https://orcid.org/0009-0007-1171-7778"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ju Huo","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0007-1171-7778","affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091074416","display_name":"Yulong Huang","orcid":"https://orcid.org/0000-0001-9303-9083"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yulong Huang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-9303-9083","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100746046","display_name":"Dingyi Wang","orcid":"https://orcid.org/0009-0004-6560-0186"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dingyi Wang","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0009-0004-6560-0186","affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.109,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.88336666,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"61","issue":"1","first_page":"47","last_page":"60"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.991599977016449,"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":0.991599977016449,"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":0.9581999778747559,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9319999814033508,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/planner","display_name":"Planner","score":0.6808754801750183},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6343287825584412},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6179065108299255},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.4592961370944977},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.44935062527656555},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.43534114956855774},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41743844747543335},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39214837551116943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3806748688220978},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3399996757507324},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3326808214187622},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3077465295791626},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.16493043303489685},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.15224549174308777},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10486474633216858},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09336972236633301}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6808754801750183},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6343287825584412},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6179065108299255},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.4592961370944977},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.44935062527656555},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.43534114956855774},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41743844747543335},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39214837551116943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3806748688220978},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3399996757507324},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3326808214187622},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3077465295791626},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.16493043303489685},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.15224549174308777},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10486474633216858},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09336972236633301},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2024.3439673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2024.3439673","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G3520130506","display_name":null,"funder_award_id":"62373118","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8584523013","display_name":null,"funder_award_id":"61473100","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W2009422376","https://openalex.org/W2162991084","https://openalex.org/W2222512263","https://openalex.org/W2229105208","https://openalex.org/W2733936308","https://openalex.org/W2883162277","https://openalex.org/W2884740144","https://openalex.org/W2962787639","https://openalex.org/W2972289370","https://openalex.org/W2973216148","https://openalex.org/W2999746904","https://openalex.org/W3000103029","https://openalex.org/W3003747652","https://openalex.org/W3029808435","https://openalex.org/W3089858107","https://openalex.org/W3091037752","https://openalex.org/W3091367268","https://openalex.org/W3093968153","https://openalex.org/W3114626444","https://openalex.org/W3134045206","https://openalex.org/W3135067689","https://openalex.org/W3135496326","https://openalex.org/W3135842842","https://openalex.org/W3138291074","https://openalex.org/W3159537771","https://openalex.org/W3183413118","https://openalex.org/W3188485279","https://openalex.org/W4205801371","https://openalex.org/W4312535246","https://openalex.org/W4312578919","https://openalex.org/W4313855813","https://openalex.org/W4315750730","https://openalex.org/W4318624660","https://openalex.org/W4361761162","https://openalex.org/W4381785675","https://openalex.org/W4384159629","https://openalex.org/W4385194647","https://openalex.org/W4385338677","https://openalex.org/W4387197063","https://openalex.org/W4387385781","https://openalex.org/W4391892635"],"related_works":["https://openalex.org/W4388953196","https://openalex.org/W3144671390","https://openalex.org/W609366245","https://openalex.org/W2513886483","https://openalex.org/W4206599012","https://openalex.org/W2186317423","https://openalex.org/W2621209863","https://openalex.org/W1988564139","https://openalex.org/W4250920615","https://openalex.org/W2088592922"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"we":[3,45,74,109,140],"offer":[4],"a":[5,20,53,111,127,190],"perception-aware":[6],"quadrotor":[7,21],"translation":[8],"and":[9,62,66,148,170],"yaw":[10,145],"angle":[11,146],"planner":[12,184],"approach":[13],"to":[14,87,158,165,196],"solve":[15,88],"the":[16,38,68,76,89,123,149,156,160],"navigation":[17],"problem":[18,90],"for":[19,125],"with":[22,119],"limited":[23],"field":[24,131],"of":[25,70,84,91,152,194],"view":[26],"(FOV)":[27],"in":[28,136,155,178],"unpredictable":[29,179],"dynamic":[30,63,71,106,180],"situations.":[31],"Our":[32],"method":[33,42,112],"is":[34],"developed":[35],"based":[36,51,100],"on":[37,52,101],"static":[39,61],"obstacle":[40,107],"avoidance":[41],"Ego-Planner.":[43],"First,":[44],"establish":[46],"an":[47],"environmental":[48],"perception":[49],"module":[50,57],"depth":[54],"sensor.":[55],"This":[56],"categorizes":[58],"obstacles":[59,154,168],"into":[60],"types,":[64],"tracking":[65,153],"predicting":[67],"trajectories":[69],"obstacles.":[72],"Second,":[73],"introduce":[75],"minimum":[77],"volume":[78],"enclosing":[79],"polynomial":[80],"curves":[81],"basis":[82,86],"instead":[83],"B-spline":[85,102],"conservative":[92],"convex":[93],"hull":[94],"generated":[95],"by":[96],"existing":[97,137],"planning":[98],"methods":[99],"basis.":[103],"To":[104],"enable":[105],"avoidance,":[108],"design":[110],"that":[113,132,177],"combines":[114],"modified":[115],"kinematic":[116],"path":[117],"searching":[118],"gradient":[120],"optimization,":[121],"avoiding":[122],"need":[124],"maintaining":[126],"Euclidean":[128],"signed":[129],"distance":[130],"adds":[133],"computational":[134],"burden":[135],"approaches.":[138],"Finally,":[139],"jointly":[141],"optimize":[142],"translational":[143],"motion,":[144],"rotation,":[147],"visibility":[150],"cost":[151],"FOV":[157],"maximize":[159],"unmanned":[161],"aerial":[162],"vehicle's":[163],"ability":[164],"observe":[166],"unknown":[167],"early":[169],"evade":[171],"them":[172],"promptly.":[173],"Simulation":[174],"experiments":[175],"demonstrate":[176],"situations,":[181],"our":[182],"proposed":[183],"can":[185],"effectively":[186],"avoid":[187],"obstacles,":[188],"achieving":[189],"high":[191],"success":[192],"rate":[193],"up":[195],"93%.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":8}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2024-08-08T00:00:00"}
