{"id":"https://openalex.org/W2608726595","doi":"https://doi.org/10.1109/tits.2017.2673778","title":"Sampling-Based Path Planning for UAV Collision Avoidance","display_name":"Sampling-Based Path Planning for UAV Collision Avoidance","publication_year":2017,"publication_date":"2017-04-25","ids":{"openalex":"https://openalex.org/W2608726595","doi":"https://doi.org/10.1109/tits.2017.2673778","mag":"2608726595"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2017.2673778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2017.2673778","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","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/A5101855950","display_name":"Yucong Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yucong Lin","raw_affiliation_strings":["School of Earth and Space Exploration, Arizona State University, Tempe, AZ, USA","School of Earth and Space Exploration Arizona State University Tempe AZ USA"],"raw_orcid":"https://orcid.org/0000-0001-5162-5543","affiliations":[{"raw_affiliation_string":"School of Earth and Space Exploration, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]},{"raw_affiliation_string":"School of Earth and Space Exploration Arizona State University Tempe AZ USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053144325","display_name":"Srikanth Saripalli","orcid":"https://orcid.org/0000-0002-3906-7574"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srikanth Saripalli","raw_affiliation_strings":["Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA","Department of Mechanical Engineering, Texas A&M University , College Station, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Texas A&M University , College Station, TX, USA","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.1448,"has_fulltext":false,"cited_by_count":313,"citation_normalized_percentile":{"value":0.98629669,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"18","issue":"11","first_page":"3179","last_page":"3192"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9966999888420105,"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"}},{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9957000017166138,"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/collision-avoidance","display_name":"Collision avoidance","score":0.7958903312683105},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7349923849105835},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7100696563720703},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6306478381156921},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5857251286506653},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5812773108482361},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5297081470489502},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5102920532226562},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.500960111618042},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.49101710319519043},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.4840325713157654},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4708019495010376},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4379441738128662},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43362778425216675},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3502746522426605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14759406447410583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11612993478775024},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10120797157287598},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.10049855709075928},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08044889569282532}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7958903312683105},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7349923849105835},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7100696563720703},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6306478381156921},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5857251286506653},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5812773108482361},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5297081470489502},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5102920532226562},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.500960111618042},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.49101710319519043},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.4840325713157654},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4708019495010376},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4379441738128662},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43362778425216675},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3502746522426605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14759406447410583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11612993478775024},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10120797157287598},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.10049855709075928},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08044889569282532},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2017.2673778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2017.2673778","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W63574109","https://openalex.org/W300871591","https://openalex.org/W1424654272","https://openalex.org/W1504857701","https://openalex.org/W1522199380","https://openalex.org/W1539013212","https://openalex.org/W1612645646","https://openalex.org/W1971996841","https://openalex.org/W1974314710","https://openalex.org/W2002440441","https://openalex.org/W2011446272","https://openalex.org/W2019586060","https://openalex.org/W2023473795","https://openalex.org/W2024802078","https://openalex.org/W2033052486","https://openalex.org/W2035118637","https://openalex.org/W2036016432","https://openalex.org/W2055207897","https://openalex.org/W2072195747","https://openalex.org/W2081498505","https://openalex.org/W2090528409","https://openalex.org/W2091307069","https://openalex.org/W2101239630","https://openalex.org/W2111112078","https://openalex.org/W2118525851","https://openalex.org/W2136343823","https://openalex.org/W2147756883","https://openalex.org/W2294100503","https://openalex.org/W2326206646","https://openalex.org/W2477549952","https://openalex.org/W2542673510","https://openalex.org/W3083764925","https://openalex.org/W4293682399","https://openalex.org/W6610678710","https://openalex.org/W6630190951","https://openalex.org/W6632129170","https://openalex.org/W6696705104"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W4381746183","https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W1991478428","https://openalex.org/W2257960210","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W4379525781"],"abstract_inverted_index":{"The":[0,74,94],"ability":[1],"to":[2,14,42,115],"avoid":[3,43],"collisions":[4],"with":[5,45],"moving":[6,50,130],"obstacles,":[7],"such":[8],"as":[9],"commercial":[10,46],"aircraft":[11,47],"is":[12,108],"critical":[13],"the":[15,30,54,63,111,124],"safe":[16],"operation":[17],"of":[18,34,72,79,85,127,132],"unmanned":[19],"aerial":[20],"vehicles":[21],"(UAVs)":[22],"and":[23,32,48,57,69,103,137],"other":[24,49],"air":[25],"traffic.":[26],"This":[27],"paper":[28],"presents":[29],"design":[31],"implementation":[33],"sampling-based":[35],"path":[36],"planning":[37],"methods":[38,95],"for":[39,123],"a":[40,59],"UAV":[41],"collision":[44,89,117],"obstacles.":[51],"In":[52],"detail,":[53],"authors":[55],"develop":[56],"demonstrate":[58],"method":[60],"based":[61],"on":[62],"closed-loop":[64],"rapidly-exploring":[65],"random":[66],"tree":[67],"algorithm":[68],"three":[70],"variations":[71,75],"it.":[73],"are:":[76],"1)":[77],"simplification":[78],"trajectory":[80],"generation":[81],"strategy;":[82],"2)":[83],"utilization":[84],"intermediate":[86],"waypoints;":[87],"3)":[88],"prediction":[90],"using":[91],"reachable":[92],"set.":[93],"were":[96],"validated":[97],"in":[98,120],"software-in-the-loop":[99],"simulations,":[100,102],"hardware-in-the-loop":[101],"real":[104,121],"flight":[105],"experiments.":[106],"It":[107],"shown":[109],"that":[110],"algorithms":[112],"are":[113],"able":[114],"generate":[116],"free":[118],"paths":[119],"time":[122],"different":[125,133],"types":[126],"UAVs":[128],"among":[129],"obstacles":[131],"numbers,":[134],"approaching":[135],"angles,":[136],"speeds.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":31},{"year":2024,"cited_by_count":43},{"year":2023,"cited_by_count":41},{"year":2022,"cited_by_count":41},{"year":2021,"cited_by_count":48},{"year":2020,"cited_by_count":48},{"year":2019,"cited_by_count":25},{"year":2018,"cited_by_count":19},{"year":2017,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
