{"id":"https://openalex.org/W3029808435","doi":"https://doi.org/10.1109/tro.2020.2993215","title":"Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments","display_name":"Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments","publication_year":2020,"publication_date":"2020-05-27","ids":{"openalex":"https://openalex.org/W3029808435","doi":"https://doi.org/10.1109/tro.2020.2993215","mag":"3029808435"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2020.2993215","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.2993215","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5086914377","display_name":"Fei Gao","orcid":"https://orcid.org/0000-0002-6513-374X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Fei Gao","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-6513-374X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101733773","display_name":"Luqi Wang","orcid":"https://orcid.org/0000-0003-4180-1333"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Luqi Wang","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-4180-1333","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101982552","display_name":"Boyu Zhou","orcid":"https://orcid.org/0000-0002-4125-7481"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Boyu Zhou","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-4125-7481","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042314889","display_name":"Xin Zhou","orcid":"https://orcid.org/0000-0001-5484-205X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xin Zhou","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5484-205X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101789653","display_name":"Jie Pan","orcid":"https://orcid.org/0000-0002-9974-651X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jie Pan","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-9974-651X","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001947944","display_name":"Shaojie Shen","orcid":"https://orcid.org/0000-0002-5573-2909"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shaojie Shen","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-5573-2909","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5086914377"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.71,"has_fulltext":false,"cited_by_count":183,"citation_normalized_percentile":{"value":0.98610651,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"36","issue":"5","first_page":"1526","last_page":"1545"},"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":0.9990000128746033,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9861000180244446,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7902455925941467},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.7637755274772644},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5995810627937317},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5511422753334045},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46099594235420227},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.41645848751068115},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38143399357795715},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3523464798927307},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34221744537353516},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32111191749572754},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.07486605644226074}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7902455925941467},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7637755274772644},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5995810627937317},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5511422753334045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46099594235420227},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.41645848751068115},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38143399357795715},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3523464798927307},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34221744537353516},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32111191749572754},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.07486605644226074},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2020.2993215","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.2993215","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-104327","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-104327","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:repository.ust.hk:1783.1-104327","is_oa":false,"landing_page_url":"http://gateway.isiknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=LinksAMR&SrcApp=PARTNER_APP&DestLinkType=FullRecord&DestApp=WOS&KeyUT=000576260400010","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W1030513622","https://openalex.org/W1518641734","https://openalex.org/W1526262508","https://openalex.org/W1562320275","https://openalex.org/W1565546618","https://openalex.org/W1958903105","https://openalex.org/W1983872221","https://openalex.org/W2000769684","https://openalex.org/W2006368361","https://openalex.org/W2021847538","https://openalex.org/W2026733661","https://openalex.org/W2099454002","https://openalex.org/W2099893201","https://openalex.org/W2109656638","https://openalex.org/W2152536965","https://openalex.org/W2153504150","https://openalex.org/W2160890714","https://openalex.org/W2162991084","https://openalex.org/W2284939270","https://openalex.org/W2465194975","https://openalex.org/W2482392012","https://openalex.org/W2561443913","https://openalex.org/W2561611286","https://openalex.org/W2561780869","https://openalex.org/W2562514116","https://openalex.org/W2564322318","https://openalex.org/W2587415290","https://openalex.org/W2724723616","https://openalex.org/W2732510496","https://openalex.org/W2745859992","https://openalex.org/W2772356073","https://openalex.org/W2794891311","https://openalex.org/W2891491652","https://openalex.org/W2903506349","https://openalex.org/W2909642387","https://openalex.org/W2912952941","https://openalex.org/W2923943538","https://openalex.org/W2949691147","https://openalex.org/W2962787639","https://openalex.org/W2962963952","https://openalex.org/W2963872397","https://openalex.org/W2964057747","https://openalex.org/W2968585821","https://openalex.org/W3004227484","https://openalex.org/W3090649643","https://openalex.org/W3102365391","https://openalex.org/W3103565931","https://openalex.org/W3140476490","https://openalex.org/W4230475428","https://openalex.org/W4255045719","https://openalex.org/W6695664954","https://openalex.org/W6749410269"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W4220882927","https://openalex.org/W1891287906","https://openalex.org/W2036807459","https://openalex.org/W4280512241","https://openalex.org/W2775347418","https://openalex.org/W3101676691","https://openalex.org/W2000407620","https://openalex.org/W4362727385","https://openalex.org/W184340133"],"abstract_inverted_index":{"In":[0,77],"this":[1,78],"article,":[2,79],"we":[3,91],"propose":[4,92],"a":[5,42,67,88,93,98,107,124,137,143,173,183,203],"complete":[6,204],"and":[7,37,63,75,120,142,155,187,209,212],"robust":[8],"system":[9,19,70,164,199,216,234],"for":[10,47],"the":[11,24,49,53,57,83],"aggressive":[12,221],"flight":[13,54,174],"of":[14,52,56,81,172],"autonomous":[15,205],"quadrotors.":[16],"The":[17,111,196],"proposed":[18,197],"is":[20,29,45,114,200,217],"built":[21],"upon":[22],"on":[23],"classical":[25],"teach-and-repeat":[26,69],"framework,":[27],"which":[28,101],"widely":[30],"adopted":[31],"in":[32,223,231],"infrastructure":[33],"inspection,":[34],"aerial":[35],"transportation,":[36],"search-and-rescue.":[38],"For":[39],"these":[40],"applications,":[41],"human's":[43],"intention":[44,171],"essential":[46],"deciding":[48],"topological":[50],"structure":[51],"trajectory":[55,113],"drone.":[58],"However,":[59],"poor":[60],"teaching":[61,89,180],"trajectories":[62,159],"changing":[64],"environments":[65],"prevent":[66],"simple":[68],"from":[71],"being":[72],"applied":[73],"flexibly":[74],"robustly.":[76],"instead":[80],"commanding":[82],"drone":[84],"to":[85,95,106,116,129,152,182,192],"precisely":[86],"follow":[87],"trajectory,":[90,100,186],"method":[94,141,146],"automatically":[96],"convert":[97,176],"human-piloted":[99],"can":[102,168],"be":[103,117],"arbitrarily":[104,178],"jerky,":[105],"topologically":[108],"equivalent":[109],"one.":[110],"generated":[112],"guaranteed":[115],"smooth,":[118],"safe,":[119],"dynamically":[121,156],"feasible,":[122],"with":[123,207],"human":[125],"preferable":[126],"aggressiveness.":[127],"Also,":[128],"avoid":[130,193],"unmapped":[131],"or":[132],"moving":[133],"obstacles":[134],"during":[135],"flights,":[136],"fast":[138],"local":[139,158,190,210],"perception":[140,211],"sliding-windowed":[144],"replanning":[145],"are":[147],"integrated":[148,201],"into":[149,202],"our":[150,163,232],"system,":[151],"generate":[153,188],"safe":[154,189],"feasible":[157],"onboard.":[160],"We":[161,227],"name":[162],"as":[165,235],"teach-repeat-replan.":[166],"It":[167],"capture":[169],"users'":[170],"mission,":[175],"an":[177],"jerky":[179],"path":[181],"smooth":[184],"repeating":[185],"replans":[191],"unexpected":[194],"collisions.":[195],"planning":[198],"quadrotor":[206,233],"global":[208],"localization":[213],"submodules.":[214],"Our":[215],"validated":[218],"by":[219],"performing":[220],"flights":[222],"challenging":[224],"indoor/outdoor":[225],"environments.":[226],"release":[228],"all":[229],"components":[230],"open-source":[236],"ros":[237],"packages.":[238]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":43},{"year":2024,"cited_by_count":35},{"year":2023,"cited_by_count":36},{"year":2022,"cited_by_count":24},{"year":2021,"cited_by_count":22},{"year":2020,"cited_by_count":17},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-19T08:33:51.333923","created_date":"2025-10-10T00:00:00"}
