{"id":"https://openalex.org/W4206096906","doi":"https://doi.org/10.1109/tie.2022.3140533","title":"Real-Time Perception-Limited Motion Planning Using Sampling-Based MPC","display_name":"Real-Time Perception-Limited Motion Planning Using Sampling-Based MPC","publication_year":2022,"publication_date":"2022-01-11","ids":{"openalex":"https://openalex.org/W4206096906","doi":"https://doi.org/10.1109/tie.2022.3140533"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2022.3140533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3140533","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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanchen Lu","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"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"]}]},{"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":null,"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"],"raw_orcid":"https://orcid.org/0000-0003-2597-5392","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of 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"],"raw_orcid":"https://orcid.org/0000-0002-7137-4136","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, 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":2.7414,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.91455702,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"69","issue":"12","first_page":"13182","last_page":"13191"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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":0.9991000294685364,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9951000213623047,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9933000206947327,"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/computer-science","display_name":"Computer science","score":0.5274410843849182},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49490708112716675},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4286652207374573},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.10696029663085938}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5274410843849182},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49490708112716675},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4286652207374573},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.10696029663085938},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tie.2022.3140533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3140533","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:10635/215298","is_oa":false,"landing_page_url":"https://scholarbank.nus.edu.sg/handle/10635/215298","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5799999833106995}],"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":26,"referenced_works":["https://openalex.org/W2109656638","https://openalex.org/W2116554046","https://openalex.org/W2162991084","https://openalex.org/W2214613866","https://openalex.org/W2410630689","https://openalex.org/W2482392012","https://openalex.org/W2584986912","https://openalex.org/W2739434881","https://openalex.org/W2744855064","https://openalex.org/W2772321183","https://openalex.org/W2807050419","https://openalex.org/W2895440838","https://openalex.org/W2909063396","https://openalex.org/W2949691147","https://openalex.org/W2958214485","https://openalex.org/W2962787639","https://openalex.org/W2963249250","https://openalex.org/W2963497136","https://openalex.org/W2963689432","https://openalex.org/W2969173984","https://openalex.org/W3003747652","https://openalex.org/W3090609657","https://openalex.org/W3102365391","https://openalex.org/W3159537771","https://openalex.org/W6755226837","https://openalex.org/W6758162286"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2350741829","https://openalex.org/W2530322880","https://openalex.org/W1596801655","https://openalex.org/W2359140296"],"abstract_inverted_index":{"Motion":[0],"planning":[1,122,133,142],"with":[2,107,136,144],"visual":[3],"perception":[4,66,146],"is":[5,76,124,158],"a":[6,79],"hot":[7],"topic":[8],"for":[9,130],"autonomous":[10],"flight":[11],"of":[12,40,43,63,147,150,154],"micro":[13],"aerial":[14],"vehicles":[15],"(MAVs).":[16],"However,":[17],"many":[18],"existing":[19,55],"works":[20],"fail":[21],"to":[22,32,53,82,126],"be":[23],"implemented":[24],"in":[25,28],"realistic":[26],"scenarios":[27,129],"real":[29],"time":[30],"due":[31],"practical":[33],"constraints,":[34],"such":[35],"as":[36,78],"the":[37,44,48,54,57,61,68,148,155],"limited":[38,49,137],"field":[39],"view":[41],"(FOV)":[42],"onboard":[45],"camera":[46],"and":[47,65,97,140,163],"computational":[50],"capability.":[51],"Compared":[52],"methods,":[56],"proposed":[58,156],"approach":[59],"solves":[60],"optimization":[62],"motion":[64],"at":[67],"same":[69],"time.":[70],"A":[71],"sampling-based":[72,120],"model-predictive":[73],"control":[74],"framework":[75,123],"explored":[77],"local":[80,121],"planner":[81],"generate":[83],"trajectories,":[84],"which":[85],"are":[86],"<bold":[87,94,98,104,108,115],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[88,91,95,99,102,105,109,112,116],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"/>":[89,96,100,106,110,117],"<italic":[90,101,111],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">dynamically":[92],"feasible</i>":[93],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">collision-free</i>":[103],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">limited":[113],"perception</i>":[114],".":[118],"The":[119,152],"extended":[125],"two":[127],"independent":[128],"MAVs:":[131],"1)":[132],"safe":[134],"trajectories":[135,143],"FOV":[138],"constraint":[139],"2)":[141],"effective":[145],"point":[149],"interest.":[151],"effectiveness":[153],"method":[157],"demonstrated":[159],"through":[160],"both":[161],"simulation":[162],"real-flight":[164],"experiments.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}