{"id":"https://openalex.org/W4288391406","doi":"https://doi.org/10.1109/tase.2022.3184458","title":"Interleaved Predictive Control and Planning for an Unmanned Aerial Manipulator With on-the-Fly Rapid Re-Planning in Unknown Environments","display_name":"Interleaved Predictive Control and Planning for an Unmanned Aerial Manipulator With on-the-Fly Rapid Re-Planning in Unknown Environments","publication_year":2022,"publication_date":"2022-07-28","ids":{"openalex":"https://openalex.org/W4288391406","doi":"https://doi.org/10.1109/tase.2022.3184458"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2022.3184458","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3184458","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5031335943","display_name":"Mohammadreza Yavari","orcid":"https://orcid.org/0000-0002-2625-9905"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Mohammadreza Yavari","raw_affiliation_strings":["School of Engineering Science, Simon Fraser University, Vancouver, Canada"],"affiliations":[{"raw_affiliation_string":"School of Engineering Science, Simon Fraser University, Vancouver, Canada","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067371024","display_name":"Kamal Gupta","orcid":"https://orcid.org/0000-0002-4154-0615"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kamal Gupta","raw_affiliation_strings":["School of Engineering Science, Simon Fraser University, Vancouver, Canada"],"affiliations":[{"raw_affiliation_string":"School of Engineering Science, Simon Fraser University, Vancouver, Canada","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026447228","display_name":"Mehran Mehrandezh","orcid":"https://orcid.org/0000-0003-0941-7139"},"institutions":[{"id":"https://openalex.org/I194028371","display_name":"University of Regina","ror":"https://ror.org/03dzc0485","country_code":"CA","type":"education","lineage":["https://openalex.org/I194028371"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mehran Mehrandezh","raw_affiliation_strings":["Faculty of Engineering, University of Regina, Regina, Canada"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Regina, Regina, Canada","institution_ids":["https://openalex.org/I194028371"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5031335943"],"corresponding_institution_ids":["https://openalex.org/I18014758"],"apc_list":null,"apc_paid":null,"fwci":1.5099,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.83646732,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"20","issue":"3","first_page":"1690","last_page":"1705"},"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":0.9991999864578247,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7880687117576599},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7194055318832397},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6116570234298706},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5545458197593689},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5501079559326172},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4679765999317169},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.46263331174850464},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.45225194096565247},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.45180243253707886},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4399165213108063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43980351090431213},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.43583986163139343},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41546618938446045},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41538095474243164},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3431342840194702},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33517616987228394},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3114890456199646}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7880687117576599},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7194055318832397},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6116570234298706},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5545458197593689},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5501079559326172},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4679765999317169},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.46263331174850464},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.45225194096565247},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.45180243253707886},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4399165213108063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43980351090431213},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.43583986163139343},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41546618938446045},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41538095474243164},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3431342840194702},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33517616987228394},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3114890456199646},{"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2022.3184458","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3184458","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7099999785423279,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W87278644","https://openalex.org/W131069610","https://openalex.org/W272403580","https://openalex.org/W1480152866","https://openalex.org/W1561858273","https://openalex.org/W1738949971","https://openalex.org/W1864112212","https://openalex.org/W1914059017","https://openalex.org/W1969591148","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1985368783","https://openalex.org/W1990777642","https://openalex.org/W1996582911","https://openalex.org/W2000359213","https://openalex.org/W2007554064","https://openalex.org/W2019896740","https://openalex.org/W2038427383","https://openalex.org/W2046549071","https://openalex.org/W2065213714","https://openalex.org/W2065576483","https://openalex.org/W2073787051","https://openalex.org/W2078580336","https://openalex.org/W2088261091","https://openalex.org/W2111521587","https://openalex.org/W2120320883","https://openalex.org/W2166077797","https://openalex.org/W2317831939","https://openalex.org/W2568917080","https://openalex.org/W2574141186","https://openalex.org/W2771588210","https://openalex.org/W2792213791","https://openalex.org/W2890878160","https://openalex.org/W2902353813","https://openalex.org/W2927564896","https://openalex.org/W2981426722","https://openalex.org/W3004699778","https://openalex.org/W3089712028","https://openalex.org/W3089968696","https://openalex.org/W3102121895","https://openalex.org/W3138291074","https://openalex.org/W3146727668","https://openalex.org/W6603520242","https://openalex.org/W6605295560","https://openalex.org/W6609947356","https://openalex.org/W6639871426","https://openalex.org/W6655188812"],"related_works":["https://openalex.org/W3158985074","https://openalex.org/W3188433943","https://openalex.org/W3175556393","https://openalex.org/W2990389574","https://openalex.org/W4223569781","https://openalex.org/W4281683636","https://openalex.org/W2471926586","https://openalex.org/W2113884142","https://openalex.org/W2312533462","https://openalex.org/W3048221559"],"abstract_inverted_index":{"Unmanned":[0],"Aerial":[1],"Manipulators":[2],"(UAM)":[3],"are":[4,177,230,329],"gaining":[5],"attention":[6],"within":[7],"the":[8,35,38,42,48,81,103,106,118,126,129,140,150,153,157,160,172,175,183,200,204,236,243,261,286,301,308,317,324,327,346,351,365,368,381],"unmanned":[9,280],"aerial":[10,19,281],"systems":[11],"research":[12,257],"community.":[13],"They":[14],"can":[15,113,296],"be":[16,114,297],"used":[17],"for":[18,73,90,179,199,379],"manipulation":[20],"tasks":[21],"such":[22,271],"as":[23,139,272],"object":[24,74,244,266],"retrieval":[25,245,369],"from":[26,94,267],"confined":[27,249,269],"and":[28,37,40,50,56,70,174,181,194,211,223,294,322,326,342,348,384],"hard-to-reach":[29],"spaces.":[30,250],"The":[31,207],"coupled":[32],"dynamics":[33],"between":[34],"arm":[36,107,176],"base":[39,173],"also":[41,349],"limited":[43],"flight":[44,58],"time":[45],"would":[46],"require":[47],"development":[49],"implementation":[51],"of":[52,80,105,159,171,191,226,263,316,345,353],"optimal":[53],"motion":[54,93,104,161,209],"planning":[55,69,91,112,210,341,383],"robust":[57],"control":[59,71,188,212,315,343],"strategies.":[60],"In":[61,331],"this":[62,332],"paper,":[63,333],"we":[64,334],"propose":[65],"a":[66,98,109,133,224,268,275,359],"novel":[67,186,337],"integrated":[68],"strategy":[72],"retrieval.":[75],"A":[76,185],"new":[77],"kinodynamic":[78],"version":[79],"Rapidly-exploring":[82],"Random":[83],"Tree":[84],"(RRT*),":[85],"called":[86],"Lazy-Steering-RRT*,":[87],"is":[88,142,166,197,238,310,319,374],"developed":[89],"UAM\u2019s":[92],"its":[95],"start":[96],"to":[97,108,124,202,254,357],"pre-grasp":[99,154],"state,":[100],"while":[101],"keeping":[102],"minimum.":[110],"This":[111,136],"carried":[115,298,320],"out":[116,299],"on":[117,300,339,350,380],"fly":[119,382],"by":[120,145,260],"using":[121,219,278],"Machine-Learning-based":[122],"techniques":[123],"construct":[125],"edges":[127],"in":[128,132,217,240,248,274,367],"search":[130],"tree":[131],"time-efficient":[134],"way.":[135],"facilitates":[137],"re-planning,":[138],"environment":[141,309],"gradually":[143],"sensed":[144],"limited-range":[146],"sensors":[147],"onboard.":[148],"Once":[149],"UAM":[151,201,318],"reaches":[152],"state":[155],"at":[156],"end":[158],"cycle,":[162],"an":[163,265,279],"RRT":[164],"approach":[165,237,284],"then":[167],"utilized,":[168],"where":[169],"motions":[170],"coordinated":[178],"reaching":[180],"grasping":[182],"object.":[184],"partitioned":[187],"approach,":[189],"composed":[190],"model":[192],"predictive":[193],"PID":[195],"controllers,":[196],"utilized":[198],"track":[203],"planned":[205],"trajectory.":[206],"overall":[208],"algorithms":[213],"have":[214],"been":[215],"implemented":[216],"simulation":[218,228],"Multibody":[220],"Physics":[221],"Engines":[222],"number":[225],"representative":[227],"runs":[229],"presented.":[231],"Our":[232,283],"results":[233],"show":[234],"that":[235,273,362],"effective":[239],"successfully":[241],"executing":[242],"task":[246],"even":[247],"<italic":[251],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[252],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[253],"Practitioners</i>":[255],"\u2014This":[256],"was":[258],"motivated":[259],"problem":[262],"retrieving":[264],"space":[270],"collapsed":[276],"building":[277],"manipulator.":[282],"has":[285],"following":[287],"advantages":[288],"over":[289],"existing":[290],"methods:":[291],"a)":[292],"Planning":[293],"re-planning":[295],"fly,":[302],"b)":[303],"No":[304],"prior":[305],"information":[306],"about":[307],"needed,":[311],"c)":[312],"High-frequency":[313],"energy-optimal":[314],"out,":[321],"d)":[323],"planner":[325],"controller":[328],"coupled.":[330],"suggest":[335],"some":[336],"approaches":[338],"both":[340],"aspects":[344],"navigation":[347,360],"integration":[352],"these":[354],"two":[355],"modules":[356],"provide":[358],"package":[361],"meets":[363],"all":[364],"requirements":[366],"task.":[370],"Furthermore,":[371],"our":[372],"algorithm":[373],"computationally-light,":[375],"therefore,":[376],"well":[377],"suited":[378],"control.":[385]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}