{"id":"https://openalex.org/W4387717660","doi":"https://doi.org/10.1109/tits.2023.3320049","title":"Unified Robust Path Planning and Optimal Trajectory Generation for Efficient 3D Area Coverage of Quadrotor UAVs","display_name":"Unified Robust Path Planning and Optimal Trajectory Generation for Efficient 3D Area Coverage of Quadrotor UAVs","publication_year":2023,"publication_date":"2023-10-17","ids":{"openalex":"https://openalex.org/W4387717660","doi":"https://doi.org/10.1109/tits.2023.3320049"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2023.3320049","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3320049","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":true,"oa_status":"green","oa_url":"https://durham-repository.worktribe.com/file/1899538/1/Accepted%20Journal%20Article","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004629088","display_name":"Fatemeh Rekabi-Bana","orcid":"https://orcid.org/0000-0002-4885-6516"},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Fatemeh Rekabi-Bana","raw_affiliation_strings":["Department of Computer Science, Swarm and Computational Intelligence Laboratory (SwaCIL), Durham University, Durham, U.K"],"raw_orcid":"https://orcid.org/0000-0002-4885-6516","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Swarm and Computational Intelligence Laboratory (SwaCIL), Durham University, Durham, U.K","institution_ids":["https://openalex.org/I190082696"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073851395","display_name":"Junyan Hu","orcid":"https://orcid.org/0000-0001-7409-3885"},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Junyan Hu","raw_affiliation_strings":["Department of Computer Science, Swarm and Computational Intelligence Laboratory (SwaCIL), Durham University, Durham, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7409-3885","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Swarm and Computational Intelligence Laboratory (SwaCIL), Durham University, Durham, U.K","institution_ids":["https://openalex.org/I190082696"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082772824","display_name":"Tom\u00e1\u0161 Krajn\u00edk","orcid":"https://orcid.org/0000-0002-4408-7916"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Tom\u00e1\u0161 Krajn\u00edk","raw_affiliation_strings":["Artificial Intelligence Center, Czech Technical University in Prague, Prague, Czechia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Center, Czech Technical University in Prague, Prague, Czechia","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005614248","display_name":"Farshad Arvin","orcid":"https://orcid.org/0000-0001-7950-3193"},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Farshad Arvin","raw_affiliation_strings":["Department of Computer Science, Swarm and Computational Intelligence Laboratory (SwaCIL), Durham University, Durham, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7950-3193","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Swarm and Computational Intelligence Laboratory (SwaCIL), Durham University, Durham, U.K","institution_ids":["https://openalex.org/I190082696"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.0203,"has_fulltext":true,"cited_by_count":41,"citation_normalized_percentile":{"value":0.95423705,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"25","issue":"3","first_page":"2492","last_page":"2507"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9966999888420105,"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":0.9958000183105469,"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/trajectory","display_name":"Trajectory","score":0.7184163331985474},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6956923007965088},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5515258312225342},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5314884185791016},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3232179880142212},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19962960481643677},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12798038125038147},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09889885783195496},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08570462465286255}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7184163331985474},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6956923007965088},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5515258312225342},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5314884185791016},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3232179880142212},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19962960481643677},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12798038125038147},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09889885783195496},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08570462465286255},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tits.2023.3320049","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3320049","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"},{"id":"pmh:oai:durham-repository.worktribe.com:1899538","is_oa":true,"landing_page_url":"https://durham-repository.worktribe.com/output/1899538","pdf_url":"https://durham-repository.worktribe.com/file/1899538/1/Accepted%20Journal%20Article","source":{"id":"https://openalex.org/S4306400188","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:durham-repository.worktribe.com:1899538","is_oa":true,"landing_page_url":"https://durham-repository.worktribe.com/output/1899538","pdf_url":"https://durham-repository.worktribe.com/file/1899538/1/Accepted%20Journal%20Article","source":{"id":"https://openalex.org/S4306400188","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G368362065","display_name":null,"funder_award_id":"964492","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G7968199391","display_name":"ROBOtic Replicants for Optimizing the Yield by Augmenting Living Ecosystems","funder_award_id":"964492","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4387717660.pdf"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W1535179827","https://openalex.org/W1548148540","https://openalex.org/W1823979212","https://openalex.org/W1925307928","https://openalex.org/W1971086298","https://openalex.org/W1988737313","https://openalex.org/W1997525204","https://openalex.org/W2019738489","https://openalex.org/W2038896449","https://openalex.org/W2111034649","https://openalex.org/W2128990851","https://openalex.org/W2141807666","https://openalex.org/W2168992242","https://openalex.org/W2170310831","https://openalex.org/W2171667726","https://openalex.org/W2208876729","https://openalex.org/W2328767407","https://openalex.org/W2507932610","https://openalex.org/W2758653969","https://openalex.org/W2774242658","https://openalex.org/W2911461641","https://openalex.org/W2942307437","https://openalex.org/W2970026594","https://openalex.org/W2996617092","https://openalex.org/W2998407789","https://openalex.org/W3000932941","https://openalex.org/W3006821066","https://openalex.org/W3011231347","https://openalex.org/W3014097914","https://openalex.org/W3028121787","https://openalex.org/W3083270461","https://openalex.org/W3092197889","https://openalex.org/W3111308533","https://openalex.org/W3123803777","https://openalex.org/W3126119618","https://openalex.org/W3130574591","https://openalex.org/W3135363299","https://openalex.org/W3136885705","https://openalex.org/W3137299218","https://openalex.org/W3155163158","https://openalex.org/W3197167612","https://openalex.org/W3199615154","https://openalex.org/W3201032916","https://openalex.org/W4214745351","https://openalex.org/W4285507547","https://openalex.org/W4312811190","https://openalex.org/W4313166904","https://openalex.org/W4318499062","https://openalex.org/W4320015935","https://openalex.org/W6685118956"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"Area":[0],"coverage":[1,42,157],"is":[2,107,126,142],"an":[3],"important":[4],"problem":[5],"in":[6,14,48],"robotics":[7],"applications,":[8],"which":[9],"has":[10],"been":[11],"widely":[12],"used":[13],"search":[15,66,88],"and":[16,21,36,80,121,151,162,178],"rescue,":[17],"offshore":[18],"industrial":[19],"inspection,":[20],"smart":[22],"agriculture.":[23],"This":[24],"paper":[25],"demonstrates":[26],"a":[27,40,58,64,77,85],"novel":[28],"unified":[29],"robust":[30,123],"path":[31,115],"planning,":[32],"optimal":[33,103,113],"trajectory":[34,105],"generation,":[35],"control":[37,124],"architecture":[38],"for":[39,146],"quadrotor":[41],"mission.":[43,158],"To":[44],"achieve":[45],"safe":[46],"navigation":[47],"uncertain":[49],"working":[50],"environments":[51],"containing":[52],"obstacles,":[53],"the":[54,69,74,95,99,112,118,122,130,147,155,165],"proposed":[55,166],"algorithm":[56],"applies":[57],"modified":[59],"probabilistic":[60],"roadmap":[61],"to":[62,93,110],"generating":[63],"connected":[65],"graph":[67,89],"considering":[68],"risk":[70],"of":[71,144,149,164],"collision":[72],"with":[73],"obstacles.":[75],"Furthermore,":[76],"recursive":[78],"node":[79],"link":[81],"generation":[82,106],"scheme":[83],"determines":[84],"more":[86],"efficient":[87],"without":[90],"extra":[91],"complexity":[92],"reduce":[94],"computational":[96],"burden":[97],"during":[98],"planning":[100,119],"procedure.":[101],"An":[102],"three-dimensional":[104],"then":[108],"suggested":[109],"connect":[111],"discrete":[114],"generated":[116],"by":[117],"algorithm,":[120],"policy":[125],"designed":[127],"based":[128],"on":[129],"cascade":[131],"<inline-formula":[132],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[133],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[134],"<tex-math":[135],"notation=\"LaTeX\">$NLH_\\infty$</tex-math>":[136],"</inline-formula>":[137],"framework.":[138],"The":[139,159],"integrated":[140],"framework":[141,167],"capable":[143],"compensating":[145],"effects":[148],"uncertainties":[150],"disturbances":[152],"while":[153],"accomplishing":[154],"area":[156],"feasibility,":[160],"robustness":[161],"performance":[163],"are":[168],"evaluated":[169],"through":[170],"Monte":[171],"Carlo":[172],"simulations,":[173],"PX4":[174],"Software-In-the-Loop":[175],"test":[176],"facility,":[177],"real-world":[179],"experiments.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":16}],"updated_date":"2026-07-17T09:13:05.818461","created_date":"2025-10-10T00:00:00"}