{"id":"https://openalex.org/W3203180165","doi":"https://doi.org/10.1109/tie.2021.3114744","title":"Flight With Limited Field of View: A Parallel and Gradient-Free Strategy for Micro Aerial Vehicle","display_name":"Flight With Limited Field of View: A Parallel and Gradient-Free Strategy for Micro Aerial Vehicle","publication_year":2021,"publication_date":"2021-09-29","ids":{"openalex":"https://openalex.org/W3203180165","doi":"https://doi.org/10.1109/tie.2021.3114744","mag":"3203180165"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2021.3114744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3114744","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/A5036883766","display_name":"Hanchen Lu","orcid":"https://orcid.org/0000-0002-2941-2135"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]},{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Hanchen Lu","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-2941-2135","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073871408","display_name":"Qun Zong","orcid":"https://orcid.org/0000-0003-0734-6728"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qun Zong","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-0734-6728","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"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"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shupeng Lai","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore"],"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"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003234602","display_name":"Bailing Tian","orcid":"https://orcid.org/0000-0003-1004-8350"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bailing Tian","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-1004-8350","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-7137-4136","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8732,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.76076192,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"69","issue":"9","first_page":"9258","last_page":"9267"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9995999932289124,"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":0.9983999729156494,"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/constraint","display_name":"Constraint (computer-aided design)","score":0.6473230719566345},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6178310513496399},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5112292766571045},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.45248252153396606},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.448192298412323},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4337872862815857},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4247158169746399},{"id":"https://openalex.org/keywords/graphics","display_name":"Graphics","score":0.4109562039375305},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39766791462898254},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36666128039360046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22521203756332397},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16939231753349304},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16785550117492676},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1642768383026123},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1467667520046234},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.08760306239128113}],"concepts":[{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6473230719566345},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6178310513496399},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5112292766571045},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.45248252153396606},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.448192298412323},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4337872862815857},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4247158169746399},{"id":"https://openalex.org/C21442007","wikidata":"https://www.wikidata.org/wiki/Q1027879","display_name":"Graphics","level":2,"score":0.4109562039375305},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39766791462898254},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36666128039360046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22521203756332397},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16939231753349304},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16785550117492676},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1642768383026123},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1467667520046234},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.08760306239128113},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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":2,"locations":[{"id":"doi:10.1109/tie.2021.3114744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3114744","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:10635/215302","is_oa":false,"landing_page_url":"https://scholarbank.nus.edu.sg/handle/10635/215302","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":[],"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":[{"id":"https://openalex.org/G1218971598","display_name":null,"funder_award_id":"61903349","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1763732274","display_name":null,"funder_award_id":"62022060","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6497725696","display_name":null,"funder_award_id":"62073234","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6780592426","display_name":null,"funder_award_id":"61773278","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7161920209","display_name":null,"funder_award_id":"62003236","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7491594886","display_name":null,"funder_award_id":"61873340","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1578294898","https://openalex.org/W1613865483","https://openalex.org/W1971086298","https://openalex.org/W1987648924","https://openalex.org/W2109656638","https://openalex.org/W2116554046","https://openalex.org/W2134560790","https://openalex.org/W2162991084","https://openalex.org/W2214613866","https://openalex.org/W2291160178","https://openalex.org/W2410630689","https://openalex.org/W2482392012","https://openalex.org/W2528489519","https://openalex.org/W2561780869","https://openalex.org/W2587415290","https://openalex.org/W2607968634","https://openalex.org/W2739434881","https://openalex.org/W2754657900","https://openalex.org/W2772321183","https://openalex.org/W2890926967","https://openalex.org/W2895440838","https://openalex.org/W2949691147","https://openalex.org/W2962787639","https://openalex.org/W2963238245","https://openalex.org/W2963249250","https://openalex.org/W2963439316","https://openalex.org/W2963497136","https://openalex.org/W2969306559","https://openalex.org/W3003747652","https://openalex.org/W3004227484","https://openalex.org/W3042422237","https://openalex.org/W3090649643","https://openalex.org/W3102129812","https://openalex.org/W3102365391","https://openalex.org/W3159537771","https://openalex.org/W4206096906","https://openalex.org/W6714402795","https://openalex.org/W6755226837","https://openalex.org/W6760116675","https://openalex.org/W6806808370"],"related_works":["https://openalex.org/W2359600231","https://openalex.org/W3216757130","https://openalex.org/W2380019117","https://openalex.org/W2126380264","https://openalex.org/W2093343611","https://openalex.org/W1660309994","https://openalex.org/W1987886368","https://openalex.org/W2369187583","https://openalex.org/W2126635878","https://openalex.org/W3154539612"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"a":[3,14,17,67,71,81,86,91,97,152],"parallel":[4,72],"and":[5,28,32,89,113,126,128,145,168],"gradient-free":[6],"strategy":[7,162],"is":[8,26,102,136,163],"presented":[9],"for":[10],"autonomous":[11],"navigation":[12],"of":[13,20,37,66,131,159],"quadrotor":[15],"with":[16,42,50],"limited":[18,107],"field":[19],"view":[21],"(FOV).":[22],"The":[23,54,121,157],"FOV":[24,108],"constraint":[25],"nonlinear":[27,125],"noncontinuous":[29,127],"in":[30,70],"general":[31],"involves":[33,129],"higher":[34],"order":[35],"dynamics":[36],"the":[38,51,64,76,106,110,114,118,143,160],"vehicle.":[39],"Planning":[40],"problems":[41,147],"such":[43],"constraints":[44],"are":[45,124,148],"difficult":[46],"to":[47,104,138],"solve,":[48],"especially":[49],"real-time":[52],"requirement.":[53],"proposed":[55,161],"method":[56],"first":[57],"constructs":[58],"an":[59],"environment":[60],"map":[61],"by":[62],"integrating":[63],"measurement":[65],"limited-FOV":[68],"sensor":[69],"process.":[73],"Based":[74],"on":[75,151],"map,":[77],"it":[78],"then":[79],"selects":[80],"feasible":[82],"local":[83],"goal":[84],"from":[85],"global":[87],"path":[88],"generates":[90],"constraint-free":[92],"nominal":[93],"control":[94,100],"sequence.":[95],"Finally,":[96],"stochastic":[98],"optimal":[99],"problem":[101],"solved":[103,149],"satisfy":[105],"constraint,":[109,112],"dynamic":[111,130],"collision-free":[115],"conditions":[116],"at":[117],"same":[119],"time.":[120],"objective":[122],"functions":[123],"MAV.":[132],"A":[133],"parallel-gradient-free":[134],"algorithm":[135],"used":[137],"address":[139],"these":[140],"problems.":[141],"Both":[142],"sensing":[144],"planning":[146],"parallelly":[150],"lightweight":[153],"graphics":[154],"processing":[155],"unit.":[156],"effectiveness":[158],"demonstrated":[164],"through":[165],"both":[166],"simulation":[167],"real-flight":[169],"experiments.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
