{"id":"https://openalex.org/W7130540490","doi":"https://doi.org/10.1109/tie.2026.3661023","title":"PV-KRRT <sup>*</sup> : Adaptive Classification Sampling and Curvature Constrained Motion Planning for Quadrotor MAVs","display_name":"PV-KRRT <sup>*</sup> : Adaptive Classification Sampling and Curvature Constrained Motion Planning for Quadrotor MAVs","publication_year":2026,"publication_date":"2026-02-19","ids":{"openalex":"https://openalex.org/W7130540490","doi":"https://doi.org/10.1109/tie.2026.3661023"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2026.3661023","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2026.3661023","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/A5126436707","display_name":"Tinghang Ji","orcid":null},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]},{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tinghang Ji","raw_affiliation_strings":["School of Control Science and Engineering and Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems, Tiangong University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0009-2315-5738","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering and Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I136765683","https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123401362","display_name":"Baoquan Li","orcid":null},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]},{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baoquan Li","raw_affiliation_strings":["School of Control Science and Engineering and Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems, Tiangong University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-8390-3907","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering and Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I136765683","https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126384224","display_name":"Hai Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]},{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hai Zhu","raw_affiliation_strings":["School of Control Science and Engineering and Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems, Tiangong University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0001-8200-8780","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering and Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I136765683","https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066913530","display_name":"Wuxi Shi","orcid":"https://orcid.org/0000-0002-8303-2758"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]},{"id":"https://openalex.org/I198091727","display_name":"Tiangong University","ror":"https://ror.org/00xsr9m91","country_code":"CN","type":"education","lineage":["https://openalex.org/I198091727"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wuxi Shi","raw_affiliation_strings":["School of Control Science and Engineering and Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems, Tiangong University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-8303-2758","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering and Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I136765683","https://openalex.org/I198091727"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126385429","display_name":"Xuebo Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuebo Zhang","raw_affiliation_strings":["Institute of Robotics and Automatic Information Systems and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-5308-6539","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information Systems and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20752197,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"7","first_page":"10327","last_page":"10339"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9911999702453613,"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":0.9911999702453613,"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":0.0017999999690800905,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.0007999999797903001,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/motion-planning","display_name":"Motion planning","score":0.7605999708175659},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6625999808311462},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.6014999747276306},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5860000252723694},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.5690000057220459},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5246999859809875},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4871000051498413},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4754999876022339},{"id":"https://openalex.org/keywords/adaptive-sampling","display_name":"Adaptive sampling","score":0.47130000591278076}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7605999708175659},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6625999808311462},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.6014999747276306},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5860000252723694},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.5690000057220459},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5246999859809875},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4871000051498413},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4754999876022339},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4731999933719635},{"id":"https://openalex.org/C2781395549","wikidata":"https://www.wikidata.org/wiki/Q4680762","display_name":"Adaptive sampling","level":3,"score":0.47130000591278076},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4503999948501587},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4438999891281128},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.43700000643730164},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.41179999709129333},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.391400009393692},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.38519999384880066},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.38449999690055847},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.37220001220703125},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.33550000190734863},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.32760000228881836},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.3222000002861023},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.3075000047683716},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.30730000138282776},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2973000109195709},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.2874000072479248},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2759999930858612},{"id":"https://openalex.org/C6180225","wikidata":"https://www.wikidata.org/wiki/Q3411771","display_name":"Penalty method","level":2,"score":0.27559998631477356},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2660999894142151},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2621999979019165}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2026.3661023","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2026.3661023","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6766142249107361}],"awards":[{"id":"https://openalex.org/G185315232","display_name":null,"funder_award_id":"62203326","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3715222878","display_name":null,"funder_award_id":"62473282","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3934162530","display_name":null,"funder_award_id":"20JCYBJC00180","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"},{"id":"https://openalex.org/G852804035","display_name":null,"funder_award_id":"62303349","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"},{"id":"https://openalex.org/F4320323993","display_name":"Natural Science Foundation of Tianjin City","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0,80],"the":[1,13,69,94,98,140,160],"article,":[2],"a":[3,56,120],"position-verified":[4],"(PV)":[5],"kinodynamic":[6,15],"planning":[7],"method":[8,73],"is":[9,25,44,63,66,125,145],"proposed":[10,161],"based":[11],"on":[12],"extended":[14],"rapid-exploration":[16],"random":[17],"tree":[18],"(KRRT<sup":[19],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[20,71],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">*</sup>)":[21],"algorithm.":[22],"The":[23],"aim":[24],"enabling":[26],"microaerial":[27],"vehicles":[28],"(MAVs)":[29],"to":[30,90,113,154],"generate":[31,114],"efficient":[32],"and":[33,52,65,104,127,135,139,150,157],"feasible":[34],"motion":[35],"trajectories":[36],"in":[37],"unknown":[38],"complex":[39],"environments.":[40],"An":[41],"initial":[42],"trajectory":[43,121,133],"generated":[45],"first":[46],"for":[47,74],"analyzing":[48],"obstacles":[49],"between":[50],"start":[51],"end":[53],"points.":[54],"Then,":[55],"sampling":[57,78,95,102],"strategy":[58],"with":[59,129],"adaptive":[60],"obstacle":[61],"classification":[62],"designed,":[64],"integrated":[67],"into":[68],"KRRT<sup":[70],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">*</sup>":[72],"verifying":[75],"position":[76],"of":[77,93,132,159],"nodes.":[79,96],"collision-prone":[81],"regions,":[82],"cylindrical":[83],"inflated":[84],"spaces":[85],"are":[86,111,152],"constructed,":[87],"so":[88],"as":[89],"improve":[91],"distribution":[92],"During":[97],"rewiring":[99],"process,":[100],"redundant":[101],"nodes":[103],"solving":[105],"unnecessary":[106],"boundary":[107],"value":[108],"problem":[109],"(BVP)":[110],"eliminated":[112],"high":[115],"quality":[116],"front-end":[117],"trajectories.":[118],"Moreover,":[119],"curvature":[122],"penalty":[123,130],"term":[124],"designed":[126],"combined":[128],"terms":[131],"smoothness":[134],"path":[136],"topology":[137],"deviation,":[138],"quadratic":[141],"programming":[142],"(QP)":[143],"model":[144],"constructed.":[146],"Finally,":[147],"comparative":[148],"simulations":[149],"experiments":[151],"conducted":[153],"verify":[155],"effectiveness":[156],"flexibility":[158],"method.":[162]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2026-02-20T00:00:00"}
