{"id":"https://openalex.org/W4409326058","doi":"https://doi.org/10.1109/tvt.2025.3559734","title":"Risk Assessment Based Time-Adjusted Optimization for Safe and Fast Flight of Quadrotor UAVs","display_name":"Risk Assessment Based Time-Adjusted Optimization for Safe and Fast Flight of Quadrotor UAVs","publication_year":2025,"publication_date":"2025-04-10","ids":{"openalex":"https://openalex.org/W4409326058","doi":"https://doi.org/10.1109/tvt.2025.3559734"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2025.3559734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3559734","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5101700006","display_name":"Hai Feng Zhu","orcid":"https://orcid.org/0009-0001-8200-8780"},"institutions":[{"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":true,"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","School of Control Science and Engineering, and the Tianjin Key Laboratory of Intelligent Control of Electrical Equipment, 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/I198091727"]},{"raw_affiliation_string":"School of Control Science and Engineering, and the Tianjin Key Laboratory of Intelligent Control of Electrical Equipment, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101952719","display_name":"Baoquan Li","orcid":null},"institutions":[{"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","School of Control Science and Engineering, and the Tianjin Key Laboratory of Intelligent Control of Electrical Equipment, 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/I198091727"]},{"raw_affiliation_string":"School of Control Science and Engineering, and the Tianjin Key Laboratory of Intelligent Control of Electrical Equipment, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108306042","display_name":"Haolin Yin","orcid":null},"institutions":[{"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":"Haolin Yin","raw_affiliation_strings":["School of Control Science and Engineering, and Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems, Tiangong University, Tianjin, China","School of Control Science and Engineering, and the Tianjin Key Laboratory of Intelligent Control of Electrical Equipment, Tiangong University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0007-8472-9710","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/I198091727"]},{"raw_affiliation_string":"School of Control Science and Engineering, and the Tianjin Key Laboratory of Intelligent Control of Electrical Equipment, Tiangong University, Tianjin, China","institution_ids":["https://openalex.org/I198091727"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025392915","display_name":"Xuebo Zhang","orcid":"https://orcid.org/0000-0001-5308-6539"},"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 the 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 the Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101700006"],"corresponding_institution_ids":["https://openalex.org/I198091727"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07055675,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"74","issue":"9","first_page":"13658","last_page":"13666"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9801999926567078,"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"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9801999926567078,"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"}},{"id":"https://openalex.org/T12125","display_name":"Aerospace and Aviation Technology","score":0.972599983215332,"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/T11489","display_name":"Air Traffic Management and Optimization","score":0.9488999843597412,"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/engineering","display_name":"Engineering","score":0.48731741309165955},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42571645975112915},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.41176557540893555},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.36324599385261536},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3322941064834595},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32223784923553467}],"concepts":[{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.48731741309165955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42571645975112915},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.41176557540893555},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.36324599385261536},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3322941064834595},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32223784923553467}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2025.3559734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3559734","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1252079131","display_name":null,"funder_award_id":"61973234","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1941749034","https://openalex.org/W1996183429","https://openalex.org/W2054585537","https://openalex.org/W2100512461","https://openalex.org/W2118448675","https://openalex.org/W2142424817","https://openalex.org/W2162991084","https://openalex.org/W2482392012","https://openalex.org/W2587415290","https://openalex.org/W2613683354","https://openalex.org/W2772356073","https://openalex.org/W2890926967","https://openalex.org/W2903506349","https://openalex.org/W2949691147","https://openalex.org/W2962787639","https://openalex.org/W2963497136","https://openalex.org/W2969306559","https://openalex.org/W3006552748","https://openalex.org/W3029808435","https://openalex.org/W3090649643","https://openalex.org/W3091689258","https://openalex.org/W3113905734","https://openalex.org/W3114626444","https://openalex.org/W3159537771","https://openalex.org/W3166401044","https://openalex.org/W3173494724","https://openalex.org/W3205542554","https://openalex.org/W3205649931","https://openalex.org/W3208032334","https://openalex.org/W3209325542","https://openalex.org/W3217061540","https://openalex.org/W4312805548","https://openalex.org/W4313889650","https://openalex.org/W4385151905"],"related_works":["https://openalex.org/W2152805146","https://openalex.org/W2077812314","https://openalex.org/W3081190093","https://openalex.org/W2326483923","https://openalex.org/W593591422","https://openalex.org/W1985678447","https://openalex.org/W1568411643","https://openalex.org/W3034012767","https://openalex.org/W2950750861","https://openalex.org/W2358190750"],"abstract_inverted_index":{"Generating":[0],"an":[1,57,77],"executable":[2],"reference":[3],"trajectory":[4,89],"in":[5,74,123],"realtime":[6],"is":[7,27,54,62,81,100,112,126],"a":[8,14,23],"core":[9],"of":[10,48,86,92,109,130,139,164],"autonomous":[11],"navigation":[12],"for":[13,29,43],"quadrotor":[15],"unmanned":[16],"aerial":[17],"vehicle":[18],"(UAV).":[19],"In":[20],"the":[21,87,120,165],"paper,":[22],"timeadjusted":[24],"optimization":[25],"method":[26],"proposed":[28,166],"UAV":[30,52,152],"motion":[31],"planning":[32],"to":[33,64,103,144,150,161],"achieve":[34],"safe":[35],"and":[36,51,56,71,90,132,155],"fast":[37],"flight.":[38,67],"Firstly,":[39],"based":[40],"on":[41],"parameterization":[42],"uniform":[44],"B-spline":[45,140],"trajectories,":[46,147],"relationship":[47,129],"knot":[49],"spans":[50],"speeds":[53],"analyzed,":[55],"iterative":[58],"velocity":[59],"restrict":[60],"algorithm":[61],"introduced":[63],"tackle":[65],"nonexecutable":[66],"Subsequently,":[68],"combining":[69],"start":[70],"target":[72],"points":[73,85],"local":[75,134],"planning,":[76],"evaluation":[78],"criterion":[79],"function":[80,122],"designed":[82],"with":[83,159],"control":[84],"above":[88],"directions":[91],"collision":[93],"avoidance.":[94],"On":[95],"this":[96],"basis,":[97],"risk":[98,116],"assessment":[99],"conducted":[101,158],"according":[102],"surrounding":[104],"environments,":[105],"where":[106],"four":[107],"phases":[108],"passing":[110],"obstacles":[111],"constructed":[113],"by":[114,128],"considering":[115],"level":[117],"variation.":[118],"Then,":[119],"weight":[121],"each":[124],"phase":[125],"determined":[127],"obstacle":[131],"planned":[133],"trajectory.":[135],"Moreover,":[136],"time":[137],"intervals":[138],"trajectories":[141],"are":[142,157],"adjusted":[143],"obtain":[145],"nonuniform":[146],"so":[148],"as":[149],"affect":[151],"speeds.":[153],"Simulation":[154],"experiment":[156],"comparison":[160],"verify":[162],"performance":[163],"method.":[167]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
