{"id":"https://openalex.org/W3175006969","doi":"https://doi.org/10.1109/tie.2021.3090700","title":"GTO-MPC-Based Target Chasing Using a Quadrotor in Cluttered Environments","display_name":"GTO-MPC-Based Target Chasing Using a Quadrotor in Cluttered Environments","publication_year":2021,"publication_date":"2021-06-24","ids":{"openalex":"https://openalex.org/W3175006969","doi":"https://doi.org/10.1109/tie.2021.3090700","mag":"3175006969"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2021.3090700","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3090700","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5008064723","display_name":"Lele Xi","orcid":"https://orcid.org/0000-0002-8024-3349"},"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":"Lele Xi","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","State Key Laboratory of Intelligent Control, and Decision of Complex System, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8024-3349","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"State Key Laboratory of Intelligent Control, and Decision of Complex System, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100382954","display_name":"Xinyi Wang","orcid":"https://orcid.org/0000-0002-7389-6018"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xinyi Wang","raw_affiliation_strings":["Department of Mechanical, and Automation Engineering, Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, and Automation Engineering, Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040068696","display_name":"Lei Jiao","orcid":"https://orcid.org/0000-0003-3434-3186"},"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":"Lei Jiao","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","State Key Laboratory of Intelligent Control, and Decision of Complex System, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"State Key Laboratory of Intelligent Control, and Decision of Complex System, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042114145","display_name":"Shupeng Lai","orcid":"https://orcid.org/0000-0003-2597-5392"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Shupeng Lai","raw_affiliation_strings":["Department of Electrical, and Computer Engineering, National University of Singapore, Singapore, Singapore","Peng Cheng Laboratory, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-2597-5392","affiliations":[{"raw_affiliation_string":"Department of Electrical, and Computer Engineering, National University of Singapore, Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Peng Cheng Laboratory, Shenzhen, China","institution_ids":["https://openalex.org/I4210136793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055648384","display_name":"Zhihong Peng","orcid":"https://orcid.org/0000-0001-9430-8652"},"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":"Zhihong Peng","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing, China","State Key Laboratory of Intelligent Control, and Decision of Complex System, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"State Key Laboratory of Intelligent Control, and Decision of Complex System, Beijing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100428803","display_name":"Ben M. Chen","orcid":"https://orcid.org/0000-0002-3839-5787"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ben M. Chen","raw_affiliation_strings":["Department of Mechanical, and Automation Engineering, Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical, and Automation Engineering, Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3498,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.89618906,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"69","issue":"6","first_page":"6026","last_page":"6035"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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":0.9984999895095825,"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":0.9983999729156494,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9932000041007996,"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/jerk","display_name":"Jerk","score":0.8210694789886475},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6968575716018677},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6448178887367249},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.6307466626167297},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6030374765396118},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5705211162567139},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.547999382019043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27874356508255005},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2657918930053711},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08736014366149902},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.07314211130142212}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.8210694789886475},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6968575716018677},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6448178887367249},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.6307466626167297},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6030374765396118},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5705211162567139},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.547999382019043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27874356508255005},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2657918930053711},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08736014366149902},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.07314211130142212},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"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/tie.2021.3090700","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3090700","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/215303","is_oa":false,"landing_page_url":"https://scholarbank.nus.edu.sg/handle/10635/215303","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Elements","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320318558","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2014428146","https://openalex.org/W2119224729","https://openalex.org/W2162991084","https://openalex.org/W2281096776","https://openalex.org/W2564654692","https://openalex.org/W2593792304","https://openalex.org/W2613683354","https://openalex.org/W2736079647","https://openalex.org/W2738778707","https://openalex.org/W2755898301","https://openalex.org/W2773075019","https://openalex.org/W2774922731","https://openalex.org/W2793896732","https://openalex.org/W2803245620","https://openalex.org/W2883162277","https://openalex.org/W2897661175","https://openalex.org/W2913670883","https://openalex.org/W2913817566","https://openalex.org/W2943257807","https://openalex.org/W2958214485","https://openalex.org/W2963105220","https://openalex.org/W2969209126","https://openalex.org/W3003747652","https://openalex.org/W3004013996","https://openalex.org/W3023767264","https://openalex.org/W3042422237","https://openalex.org/W3046709980","https://openalex.org/W3100710916","https://openalex.org/W3106851932","https://openalex.org/W3131040061","https://openalex.org/W3132829070"],"related_works":["https://openalex.org/W2497204748","https://openalex.org/W4281395624","https://openalex.org/W2351684991","https://openalex.org/W1561345858","https://openalex.org/W2539932329","https://openalex.org/W1983113136","https://openalex.org/W2392989031","https://openalex.org/W4293226006","https://openalex.org/W2578626244","https://openalex.org/W2039317814"],"abstract_inverted_index":{"This":[0],"article":[1],"addresses":[2],"the":[3,37,58,80,84,103,127],"challenging":[4],"problem":[5],"of":[6,86],"chasing":[7,34,110],"an":[8,54],"escaping":[9],"target":[10],"using":[11],"a":[12,23,48,100],"quadrotor":[13,59],"in":[14],"cluttered":[15],"environments.":[16],"To":[17],"tackle":[18],"these":[19],"challenges,":[20],"we":[21],"propose":[22],"guided":[24],"time-optimal":[25,49],"model":[26],"predictive":[27],"control":[28],"(GTO-MPC)-based":[29],"practical":[30],"framework":[31,74,106],"to":[32,46,60,78],"generate":[33,109],"trajectories":[35,111],"for":[36,57],"quadrotor.":[38],"A":[39],"jerk":[40,50],"limited":[41,51],"approach":[42],"is":[43,75,130],"first":[44],"adopted":[45],"find":[47],"trajectory":[52],"(JLT),":[53],"initial":[55],"reference":[56],"track,":[61],"without":[62],"taking":[63],"into":[64],"account":[65],"surrounding":[66],"obstacles":[67],"and":[68,95,116,121],"potential":[69],"threats.":[70],"An":[71],"MPC-based":[72],"replanning":[73],"then":[76],"applied":[77],"approximate":[79],"JLT":[81],"together":[82],"with":[83,99],"consideration":[85],"other":[87],"issues":[88],"such":[89],"as":[90],"flight":[91,114],"safety,":[92],"line-of-sight":[93],"maintenance,":[94],"deadlock":[96],"avoidance.":[97],"Combined":[98],"neural":[101],"network,":[102],"proposed":[104,128],"GTO-MPC":[105],"can":[107],"efficiently":[108],"that":[112,126],"guarantee":[113],"smoothness":[115],"kinodynamic":[117],"feasibility.":[118],"Our":[119],"simulation":[120],"actual":[122],"experimental":[123],"results":[124],"show":[125],"technique":[129],"highly":[131],"effective.":[132]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}