{"id":"https://openalex.org/W4399169361","doi":"https://doi.org/10.1109/wf-iot58464.2023.10539596","title":"3D Drone Path Planning Algorithms with Collision Avoidance: Collision Resolution vs. Prevention","display_name":"3D Drone Path Planning Algorithms with Collision Avoidance: Collision Resolution vs. Prevention","publication_year":2023,"publication_date":"2023-10-12","ids":{"openalex":"https://openalex.org/W4399169361","doi":"https://doi.org/10.1109/wf-iot58464.2023.10539596"},"language":"en","primary_location":{"id":"doi:10.1109/wf-iot58464.2023.10539596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wf-iot58464.2023.10539596","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 9th World Forum on Internet of Things (WF-IoT)","raw_type":"proceedings-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/A5053007416","display_name":"Rutuja Shivgan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104314","display_name":"New York Institute of Technology","ror":"https://ror.org/01bghzb51","country_code":"US","type":"education","lineage":["https://openalex.org/I4210104314"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Rutuja Shivgan","raw_affiliation_strings":["New York Institute of Technology,Department of Electrical and Computer Engineering,New York,NY,10023"],"affiliations":[{"raw_affiliation_string":"New York Institute of Technology,Department of Electrical and Computer Engineering,New York,NY,10023","institution_ids":["https://openalex.org/I4210104314"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102827728","display_name":"Jorge Medina","orcid":"https://orcid.org/0000-0002-7865-0834"},"institutions":[{"id":"https://openalex.org/I118118575","display_name":"New Jersey Institute of Technology","ror":"https://ror.org/05e74xb87","country_code":"US","type":"education","lineage":["https://openalex.org/I118118575"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jorge Medina","raw_affiliation_strings":["New Jersey Institute of Technology,Networking Research Laboratory, Helen and John C. Hartmann,Department of Electrical and Computer Engineering,Newark,NJ,07102"],"affiliations":[{"raw_affiliation_string":"New Jersey Institute of Technology,Networking Research Laboratory, Helen and John C. Hartmann,Department of Electrical and Computer Engineering,Newark,NJ,07102","institution_ids":["https://openalex.org/I118118575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079318596","display_name":"Ziqian Dong","orcid":"https://orcid.org/0000-0003-3937-1311"},"institutions":[{"id":"https://openalex.org/I4210104314","display_name":"New York Institute of Technology","ror":"https://ror.org/01bghzb51","country_code":"US","type":"education","lineage":["https://openalex.org/I4210104314"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ziqian Dong","raw_affiliation_strings":["New York Institute of Technology,Department of Electrical and Computer Engineering,New York,NY,10023"],"affiliations":[{"raw_affiliation_string":"New York Institute of Technology,Department of Electrical and Computer Engineering,New York,NY,10023","institution_ids":["https://openalex.org/I4210104314"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076241092","display_name":"Roberto Rojas\u2010Cessa","orcid":"https://orcid.org/0000-0001-6075-9869"},"institutions":[{"id":"https://openalex.org/I118118575","display_name":"New Jersey Institute of Technology","ror":"https://ror.org/05e74xb87","country_code":"US","type":"education","lineage":["https://openalex.org/I118118575"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roberto Rojas\u2013Cessa","raw_affiliation_strings":["New Jersey Institute of Technology,Networking Research Laboratory, Helen and John C. Hartmann,Department of Electrical and Computer Engineering,Newark,NJ,07102"],"affiliations":[{"raw_affiliation_string":"New Jersey Institute of Technology,Networking Research Laboratory, Helen and John C. Hartmann,Department of Electrical and Computer Engineering,Newark,NJ,07102","institution_ids":["https://openalex.org/I118118575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5053007416"],"corresponding_institution_ids":["https://openalex.org/I4210104314"],"apc_list":null,"apc_paid":null,"fwci":0.123,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47529923,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"01","last_page":"08"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9984999895095825,"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.9790999889373779,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/drone","display_name":"Drone","score":0.8291105031967163},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8176606893539429},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6973553895950317},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6310235857963562},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6159274578094482},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5193663239479065},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.44197335839271545},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.41967999935150146},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4046970009803772},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37779510021209717},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3573681712150574},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3267294764518738},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3021686375141144},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2928541600704193},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1578735113143921},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13799533247947693},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.12925150990486145}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8291105031967163},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8176606893539429},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6973553895950317},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6310235857963562},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6159274578094482},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5193663239479065},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.44197335839271545},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.41967999935150146},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4046970009803772},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37779510021209717},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3573681712150574},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3267294764518738},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3021686375141144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2928541600704193},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1578735113143921},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13799533247947693},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.12925150990486145},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/wf-iot58464.2023.10539596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/wf-iot58464.2023.10539596","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 9th World Forum on Internet of Things (WF-IoT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.6700000166893005,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1988615714","https://openalex.org/W2018002617","https://openalex.org/W2019114453","https://openalex.org/W2031001134","https://openalex.org/W2054334140","https://openalex.org/W2098019229","https://openalex.org/W2106232892","https://openalex.org/W2106324066","https://openalex.org/W2130230327","https://openalex.org/W2130543103","https://openalex.org/W2131225422","https://openalex.org/W2143102370","https://openalex.org/W2471190594","https://openalex.org/W2519117472","https://openalex.org/W2608726595","https://openalex.org/W2736422478","https://openalex.org/W2914610074","https://openalex.org/W2915081197","https://openalex.org/W2940508125","https://openalex.org/W2980781235","https://openalex.org/W2999300229","https://openalex.org/W3159456735","https://openalex.org/W3183551042","https://openalex.org/W4212944994","https://openalex.org/W4312953128"],"related_works":["https://openalex.org/W4381746183","https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W2106119116","https://openalex.org/W4395071568","https://openalex.org/W2904203243","https://openalex.org/W3139139461","https://openalex.org/W2125569607"],"abstract_inverted_index":{"Because":[0],"of":[1,41,130,160],"their":[2],"limited":[3],"flight":[4,17],"range,":[5],"multiple":[6],"drones":[7,38],"are":[8],"often":[9],"deployed":[10],"simultaneously":[11],"to":[12,24,26,65,112,115,156],"perform":[13],"complex":[14],"tasks.":[15],"The":[16],"path":[18,35,52,73,144],"is":[19],"planned":[20],"for":[21],"each":[22],"drone":[23],"follow":[25],"complete":[27],"the":[28,50,100,109,119,128,131,136,148,158],"job":[29,62],"before":[30],"task":[31],"execution.":[32],"However,":[33],"multi-drone":[34,51],"planning":[36,53,74,101],"places":[37],"at":[39,91,99],"risk":[40],"in-flight":[42],"collisions.":[43],"To":[44],"overcome":[45],"this":[46],"problem,":[47],"we":[48,126],"model":[49,155],"problem":[54,59],"as":[55],"a":[56,153],"multi-vehicle":[57],"routing":[58],"that":[60],"maximizes":[61],"coverage":[63],"subject":[64],"collision-free":[66,72,85],"paths.":[67],"We":[68,107,146],"propose":[69],"three":[70],"3D":[71],"algorithms,":[75],"namely,":[76],"XTRACT,":[77],"3DETACH,":[78],"and":[79,82,134,140],"ASCEND.":[80],"XTRACT":[81],"3DETACH":[83],"provide":[84],"paths":[86,90,98],"by":[87,103,151],"setting":[88],"partial":[89],"different":[92,105],"altitudes":[93,114],"while":[94],"ASCEND":[95],"prevents":[96],"intersecting":[97],"phase":[102],"selecting":[104],"altitudes.":[106],"limit":[108],"search":[110],"processes":[111],"two":[113],"demonstrate":[116],"sufficiency":[117],"with":[118],"lowest":[120],"height":[121],"complexity.":[122],"Through":[123],"exhaustive":[124],"evaluations,":[125],"compare":[127],"performance":[129,162],"proposed":[132],"schemes":[133],"show":[135],"trade-offs":[137],"between":[138],"resolving":[139],"preventing":[141],"collisions":[142],"from":[143],"planning.":[145],"identify":[147],"best-performing":[149],"strategy":[150],"using":[152],"profit":[154],"evaluate":[157],"plethora":[159],"applicable":[161],"metrics.":[163]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}