{"id":"https://openalex.org/W4405219507","doi":"https://doi.org/10.1109/tie.2024.3508056","title":"RAPA-Planner: Robust and Efficient Motion Planning for Quadrotors Based on Parallel RA-MPPI","display_name":"RAPA-Planner: Robust and Efficient Motion Planning for Quadrotors Based on Parallel RA-MPPI","publication_year":2024,"publication_date":"2024-12-11","ids":{"openalex":"https://openalex.org/W4405219507","doi":"https://doi.org/10.1109/tie.2024.3508056"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2024.3508056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3508056","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/A5100601224","display_name":"Xuewei Zhang","orcid":"https://orcid.org/0000-0003-4512-1335"},"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":"Xuewei Zhang","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-4512-1335","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/A5061171637","display_name":"Junjie Lu","orcid":"https://orcid.org/0000-0002-0993-9765"},"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":"Junjie Lu","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-0993-9765","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/A5038014422","display_name":"Yulin Hui","orcid":"https://orcid.org/0009-0002-3124-2566"},"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":"Yulin Hui","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0002-3124-2566","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/A5077151885","display_name":"Hongming Shen","orcid":"https://orcid.org/0000-0003-0141-1904"},"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":"Homgming Shen","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-0141-1904","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/A5102877638","display_name":"Liwen Xu","orcid":"https://orcid.org/0009-0005-8438-6637"},"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":"Liwen Xu","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0005-8438-6637","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/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"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7498,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.86486651,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"72","issue":"7","first_page":"7149","last_page":"7159"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9915000200271606,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9825999736785889,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7857783436775208},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6461251378059387},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5959753394126892},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.486371785402298},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.37773948907852173},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3025742173194885},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2574988007545471},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22535467147827148}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7857783436775208},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6461251378059387},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5959753394126892},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.486371785402298},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37773948907852173},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3025742173194885},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2574988007545471},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22535467147827148}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2024.3508056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2024.3508056","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6000000238418579,"display_name":"Sustainable cities and communities"},{"id":"https://metadata.un.org/sdg/13","score":0.41999998688697815,"display_name":"Climate action"}],"awards":[{"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/G7303293037","display_name":null,"funder_award_id":"62273249","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G854082252","display_name":null,"funder_award_id":"62203415","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W2054585537","https://openalex.org/W2113256452","https://openalex.org/W2116554046","https://openalex.org/W2162991084","https://openalex.org/W2482392012","https://openalex.org/W2584986912","https://openalex.org/W2772356073","https://openalex.org/W2962787639","https://openalex.org/W2963497136","https://openalex.org/W3006249771","https://openalex.org/W3090649643","https://openalex.org/W3113905734","https://openalex.org/W3114626444","https://openalex.org/W3125164440","https://openalex.org/W3127454018","https://openalex.org/W3175006969","https://openalex.org/W3183413118","https://openalex.org/W3200397171","https://openalex.org/W3207644545","https://openalex.org/W4206096906","https://openalex.org/W4210423514","https://openalex.org/W4285289259","https://openalex.org/W4383097451","https://openalex.org/W4389666587","https://openalex.org/W4389667799"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2482749251"],"abstract_inverted_index":{"Motion":[0],"planning":[1],"for":[2,30],"quadrotors":[3],"in":[4,70,93,166,173,182],"cluttered":[5],"environments":[6],"is":[7,51,102,206],"an":[8,26,31],"open":[9],"problem,":[10],"due":[11],"to":[12,75,104,125,144,194],"the":[13,77,106,118,127,148,177,200,203],"limited":[14],"onboard":[15],"computational":[16],"power":[17],"and":[18,33,62,73,88,98,138,160,187,196],"lack":[19],"of":[20,53,184,202],"risk":[21,128],"assessment.":[22],"To":[23],"this":[24,42],"end,":[25],"urgent":[27],"need":[28],"exists":[29],"efficient":[32],"robust":[34,99],"strategy":[35],"that":[36,50,176],"can":[37,89,131,150,161],"generate":[38,76],"safe":[39,57],"motions.":[40],"In":[41],"article,":[43],"we":[44],"develop":[45],"a":[46,56,96,123,189],"risk-aware":[47,110],"parallel":[48],"planner":[49],"capable":[52],"quickly":[54,92],"finding":[55],"trajectory":[58,107,185,197],"with":[59,84,192],"high":[60],"smoothness":[61],"aggressiveness.":[63],"Specifically,":[64],"kinodynamic":[65],"feasible":[66],"motions":[67],"are":[68],"sampled":[69],"state":[71],"space":[72],"connected":[74],"guiding":[78],"trajectory,":[79],"which":[80,130,156],"keeps":[81],"topological":[82],"consistency":[83],"execution":[85],"trajectories":[86],"simultaneously":[87],"be":[90,151,162],"solved":[91,152],"closed-form.":[94],"Then,":[95],"gradient-free":[97],"optimization":[100],"scheme":[101],"presented":[103,204],"refine":[105],"based":[108],"on":[109,164],"model":[111],"predictive":[112],"path":[113],"integral":[114],"(RA-MPPI).":[115],"It":[116],"incorporates":[117],"conditional":[119],"value-at-risk":[120],"(CVaR)":[121],"as":[122,136],"metric":[124],"measure":[126],"level,":[129],"estimate":[132],"potential":[133],"risks":[134],"(such":[135],"collision":[137],"exceeding":[139],"dynamic":[140],"limits)":[141],"automatically":[142],"according":[143],"specified":[145],"CVaR.":[146],"Furthermore,":[147],"RA-MPPI":[149],"using":[153],"Monte-Carlo":[154],"sampling,":[155],"avoids":[157],"gradient":[158],"calculation":[159],"deployed":[163],"GPUs":[165],"parallel,":[167],"thereby":[168],"improving":[169],"efficiency.":[170],"Benchmark":[171],"results":[172],"simulation":[174],"demonstrate":[175],"proposed":[178],"method":[179],"outperforms":[180],"others":[181],"terms":[183],"length":[186],"achieves":[188],"favorable":[190],"performance":[191],"respect":[193],"efficiency":[195],"smoothness.":[198],"Moreover,":[199],"effectiveness":[201],"approach":[205],"further":[207],"validated":[208],"through":[209],"real-world":[210],"experiments.":[211]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}