{"id":"https://openalex.org/W4380607056","doi":"https://doi.org/10.1109/tcst.2023.3283446","title":"Simultaneous Planning and Execution for Quadrotors Flying Through a Narrow Gap Under Disturbance","display_name":"Simultaneous Planning and Execution for Quadrotors Flying Through a Narrow Gap Under Disturbance","publication_year":2023,"publication_date":"2023-06-14","ids":{"openalex":"https://openalex.org/W4380607056","doi":"https://doi.org/10.1109/tcst.2023.3283446"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2023.3283446","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3283446","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5048921870","display_name":"Zhou Liu","orcid":"https://orcid.org/0000-0001-8923-146X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Zhou Liu","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, The Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0001-8923-146X","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, The Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086746405","display_name":"Lilong Cai","orcid":"https://orcid.org/0000-0002-8034-9645"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Lilong Cai","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, The Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-8034-9645","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, The Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5048921870"],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":0.942,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.76752108,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"31","issue":"6","first_page":"2644","last_page":"2659"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9943000078201294,"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/underactuation","display_name":"Underactuation","score":0.7064989805221558},{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.6750779747962952},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6668216586112976},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6541714668273926},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6516610383987427},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5816962122917175},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.5439190864562988},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5154224634170532},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.457284152507782},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.44862794876098633},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.42760515213012695},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.4228772222995758},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2891199588775635},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2862744629383087},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23640432953834534},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19408202171325684},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1876448690891266},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18426701426506042},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09119760990142822}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7064989805221558},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.6750779747962952},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6668216586112976},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6541714668273926},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6516610383987427},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5816962122917175},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.5439190864562988},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5154224634170532},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.457284152507782},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.44862794876098633},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.42760515213012695},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.4228772222995758},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2891199588775635},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2862744629383087},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23640432953834534},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19408202171325684},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1876448690891266},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18426701426506042},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09119760990142822},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2023.3283446","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3283446","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-127637","is_oa":false,"landing_page_url":"https://repository.hkust.edu.hk/ir/Record/1783.1-127637","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1594126539","https://openalex.org/W1912829551","https://openalex.org/W1986045690","https://openalex.org/W1993449702","https://openalex.org/W2093187605","https://openalex.org/W2105080564","https://openalex.org/W2117571644","https://openalex.org/W2119224729","https://openalex.org/W2142424817","https://openalex.org/W2162991084","https://openalex.org/W2474498487","https://openalex.org/W2482392012","https://openalex.org/W2557430988","https://openalex.org/W2560414423","https://openalex.org/W2593091274","https://openalex.org/W2614122538","https://openalex.org/W2654286404","https://openalex.org/W2757499316","https://openalex.org/W2769180486","https://openalex.org/W2769498435","https://openalex.org/W2794308024","https://openalex.org/W2798500587","https://openalex.org/W2801716262","https://openalex.org/W2895824696","https://openalex.org/W2911956173","https://openalex.org/W2913817566","https://openalex.org/W2963249250","https://openalex.org/W2967464230","https://openalex.org/W2982095652","https://openalex.org/W3003489492","https://openalex.org/W3018996888","https://openalex.org/W3102552342","https://openalex.org/W3119382583","https://openalex.org/W3175006969","https://openalex.org/W3184348524","https://openalex.org/W3185165122","https://openalex.org/W3190509770","https://openalex.org/W3197225143","https://openalex.org/W4206742276","https://openalex.org/W4210469999","https://openalex.org/W4213454489","https://openalex.org/W4224914563","https://openalex.org/W4285102300","https://openalex.org/W4285117968","https://openalex.org/W6746335678"],"related_works":["https://openalex.org/W2497204748","https://openalex.org/W4281395624","https://openalex.org/W2351684991","https://openalex.org/W1561345858","https://openalex.org/W2127267268","https://openalex.org/W2539932329","https://openalex.org/W1983113136","https://openalex.org/W2136512912","https://openalex.org/W2392989031","https://openalex.org/W2067910792"],"abstract_inverted_index":{"The":[0,156,205],"dynamics":[1],"of":[2,8,30,65,85,95,160,200],"a":[3,42,109,119,223,227],"quadrotor":[4,216],"exhibit":[5],"the":[6,26,31,36,54,61,66,70,82,86,98,130,161,175,198,201,210,215],"challenges":[7],"underactuation,":[9],"strong":[10],"coupling,":[11],"and":[12,21,48,63,78,89,101,107,153,191],"external":[13],"disturbances.":[14],"In":[15,51,127],"order":[16],"to":[17,24,92,123,196,217],"handle":[18],"these":[19],"difficulties":[20],"enable":[22,214],"quadrotors":[23,183],"align":[25],"six-degree-of-freedom":[27],"(6-DOF)":[28],"pose":[29],"tilted":[32],"narrow":[33,87,224],"gap":[34,88,225],"during":[35,75],"traversing":[37],"maneuver,":[38],"this":[39,52,128],"article":[40],"proposes":[41],"strategy":[43,212],"based":[44,117],"on":[45,118,174],"simultaneous":[46],"planning":[47,62,113],"execution":[49,64,77],"(SPAE).":[50],"strategy,":[53],"unknown":[55],"disturbance":[56,71,229],"is":[57,72,115,134,163,180],"considered":[58],"in":[59,104,226],"both":[60],"trajectory":[67,112],"simultaneously.":[68],"Specifically,":[69],"estimated":[73],"online":[74],"system":[76,203],"then":[79,143],"combined":[80],"with":[81,184],"attitude":[83],"angle":[84],"maximum":[90,132],"thrust":[91,133],"constraint":[93],"acceleration":[94],"trajectory.":[96],"Given":[97],"state":[99,151],"constraints":[100,152],"physical":[102],"limitations":[103],"thrust,":[105],"velocity,":[106],"jerk,":[108],"minimum":[110],"time":[111,159],"algorithm":[114,162],"developed":[116],"piecewise":[120],"cubic":[121],"function":[122],"realize":[124],"aggressive":[125,220],"flight.":[126],"algorithm,":[129],"coupled":[131],"decoupled":[135],"into":[136],"three":[137],"independent":[138],"axes.":[139],"Each":[140],"axis":[141],"can":[142,213],"generate":[144],"time-efficient":[145],"third-order":[146],"trajectories":[147],"that":[148,209],"satisfy":[149],"arbitrary":[150],"dynamic":[154],"feasibility.":[155],"average":[157],"computing":[158,187],"less":[164],"than":[165],"<inline-formula":[166],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[167],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[168],"<tex-math":[169],"notation=\"LaTeX\">$150":[170],"~\\mu":[171],"\\text{s}$":[172],"</tex-math></inline-formula>":[173],"STM32":[176],"embedded":[177],"platform,":[178],"which":[179],"suitable":[181],"for":[182],"limited":[185],"onboard":[186],"capability.":[188],"Finally,":[189],"simulations":[190],"outdoor":[192,206],"experiments":[193],"were":[194],"conducted":[195],"verify":[197],"effectiveness":[199],"proposed":[202,211],"strategy.":[204],"results":[207],"demonstrate":[208],"carry":[218],"out":[219],"flying":[221],"through":[222],"natural":[228],"environment.":[230]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
