{"id":"https://openalex.org/W2956047314","doi":"https://doi.org/10.1109/access.2019.2925531","title":"Low-Altitude Navigation for Multi-Rotor Drones in Urban Areas","display_name":"Low-Altitude Navigation for Multi-Rotor Drones in Urban Areas","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2956047314","doi":"https://doi.org/10.1109/access.2019.2925531","mag":"2956047314"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2925531","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2925531","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08747351.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08747351.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052888513","display_name":"Ahmed Bahabry","orcid":null},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ahmed Bahabry","raw_affiliation_strings":["School of Systems and Enterprises, Stevens Institute of Technology, Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Systems and Enterprises, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018306912","display_name":"Xiangpeng Wan","orcid":"https://orcid.org/0000-0002-4998-6494"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiangpeng Wan","raw_affiliation_strings":["School of Systems and Enterprises, Stevens Institute of Technology, Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Systems and Enterprises, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021394822","display_name":"Hakim Ghazzai","orcid":"https://orcid.org/0000-0002-8636-4264"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hakim Ghazzai","raw_affiliation_strings":["School of Systems and Enterprises, Stevens Institute of Technology, Hoboken, NJ, USA","ORCiD"],"raw_orcid":"https://orcid.org/0000-0002-8636-4264","affiliations":[{"raw_affiliation_string":"School of Systems and Enterprises, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]},{"raw_affiliation_string":"ORCiD","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071128215","display_name":"Hamid Menouar","orcid":null},"institutions":[{"id":"https://openalex.org/I4210092118","display_name":"Qatar Mobility Innovations Center","ror":"https://ror.org/00dgyys91","country_code":"QA","type":"facility","lineage":["https://openalex.org/I4210092118"]},{"id":"https://openalex.org/I60342839","display_name":"Qatar University","ror":"https://ror.org/00yhnba62","country_code":"QA","type":"education","lineage":["https://openalex.org/I60342839"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Hamid Menouar","raw_affiliation_strings":["Qatar Mobility Innovations Center (QMIC), Qatar University, Doha, Qatar"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qatar Mobility Innovations Center (QMIC), Qatar University, Doha, Qatar","institution_ids":["https://openalex.org/I4210092118","https://openalex.org/I60342839"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003533793","display_name":"Gregg Vesonder","orcid":null},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregg Vesonder","raw_affiliation_strings":["School of Systems and Enterprises, Stevens Institute of Technology, Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Systems and Enterprises, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057380866","display_name":"Yehia Massoud","orcid":"https://orcid.org/0000-0002-6701-0639"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yehia Massoud","raw_affiliation_strings":["School of Systems and Enterprises, Stevens Institute of Technology, Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Systems and Enterprises, Stevens Institute of Technology, Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5052888513"],"corresponding_institution_ids":["https://openalex.org/I108468826"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":44.1138,"has_fulltext":true,"cited_by_count":58,"citation_normalized_percentile":{"value":0.99559492,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"7","issue":null,"first_page":"87716","last_page":"87731"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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/T11489","display_name":"Air Traffic Management and Optimization","score":0.9939000010490417,"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/drone","display_name":"Drone","score":0.8390904664993286},{"id":"https://openalex.org/keywords/altitude","display_name":"Altitude (triangle)","score":0.5562882423400879},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5359196662902832},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.49319761991500854},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3849963843822479},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3725917339324951},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.35192617774009705},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1640041470527649},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16030171513557434},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06952553987503052}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8390904664993286},{"id":"https://openalex.org/C6350597","wikidata":"https://www.wikidata.org/wiki/Q339495","display_name":"Altitude (triangle)","level":2,"score":0.5562882423400879},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5359196662902832},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.49319761991500854},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3849963843822479},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3725917339324951},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.35192617774009705},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1640041470527649},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16030171513557434},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06952553987503052},{"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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2019.2925531","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2925531","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08747351.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:qspace.qu.edu.qa:10576/60239","is_oa":true,"landing_page_url":"http://hdl.handle.net/10576/60239","pdf_url":"http://qspace.qu.edu.qa/bitstream/10576/60239/1/Low-Altitude_Navigation_for_Multi-Rotor_Drones_in_Urban_Areas.pdf","source":{"id":"https://openalex.org/S4306400014","display_name":"Qatar University QSpace (Qatar University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I60342839","host_organization_name":"Qatar University","host_organization_lineage":["https://openalex.org/I60342839"],"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"},{"id":"pmh:oai:doaj.org/article:df4b6630e7fb48f29fcd817f4e92b65d","is_oa":true,"landing_page_url":"https://doaj.org/article/df4b6630e7fb48f29fcd817f4e92b65d","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 87716-87731 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2925531","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2925531","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08747351.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G4481794924","display_name":null,"funder_award_id":"NPRP#9-257-1-056","funder_id":"https://openalex.org/F4320332753","funder_display_name":"Qatar National Research Fund"}],"funders":[{"id":"https://openalex.org/F4320309815","display_name":"Qatar Foundation","ror":"https://ror.org/01cawbq05"},{"id":"https://openalex.org/F4320321038","display_name":"Fonds National de la Recherche Luxembourg","ror":"https://ror.org/039z13y21"},{"id":"https://openalex.org/F4320332753","display_name":"Qatar National Research Fund","ror":"https://ror.org/01svaqq28"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2956047314.pdf","grobid_xml":"https://content.openalex.org/works/W2956047314.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W227086982","https://openalex.org/W1641312805","https://openalex.org/W1649120654","https://openalex.org/W2022980325","https://openalex.org/W2078406875","https://openalex.org/W2115772460","https://openalex.org/W2121750169","https://openalex.org/W2154207837","https://openalex.org/W2183455461","https://openalex.org/W2294295227","https://openalex.org/W2320983699","https://openalex.org/W2471190594","https://openalex.org/W2510816028","https://openalex.org/W2517499003","https://openalex.org/W2519117472","https://openalex.org/W2519588572","https://openalex.org/W2580986885","https://openalex.org/W2584459811","https://openalex.org/W2597364644","https://openalex.org/W2600422751","https://openalex.org/W2606496334","https://openalex.org/W2769883349","https://openalex.org/W2786516537","https://openalex.org/W2790737916","https://openalex.org/W2791698329","https://openalex.org/W2808312638","https://openalex.org/W2886632312","https://openalex.org/W2888247042","https://openalex.org/W2896253195","https://openalex.org/W2903620886","https://openalex.org/W2909643277","https://openalex.org/W2954241895","https://openalex.org/W2963515517","https://openalex.org/W2964023906","https://openalex.org/W2964117926"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4379143281","https://openalex.org/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W4212885606"],"abstract_inverted_index":{"Multi-rotor":[0],"drones":[1,76,143],"have":[2],"witnessed":[3],"a":[4,126],"drastic":[5],"usage":[6],"increase":[7],"in":[8,38,77,94,199],"several":[9],"smart":[10],"city":[11],"applications":[12],"due":[13],"to":[14,27,45,53,67,89,113,140,144,158,179,213],"their":[15,146],"3D":[16,96,201],"mobility,":[17],"flexibility,":[18],"and":[19,31,57,162,203],"low":[20],"cost.":[21],"Collectively,":[22],"they":[23],"can":[24,119],"be":[25],"used":[26],"accomplish":[28],"different":[29,83,127,174],"short-":[30],"long-term":[32],"missions":[33],"that":[34,205],"require":[35],"low-altitude":[36],"motion":[37],"urban":[39,78],"areas.":[40],"Therefore,":[41],"it":[42,123],"is":[43,88,104,155],"important":[44],"efficiently":[46],"manage":[47],"the":[48,51,69,74,91,111,142,160,167,181,194,206,214],"operation":[49],"of":[50,166,196],"fleet":[52],"leverage":[54],"its":[55,59,117,132],"use":[56],"maximize":[58],"application":[60],"performances.":[61],"In":[62],"this":[63,95],"paper,":[64],"we":[65],"propose":[66],"investigate":[68],"path":[70],"routing":[71],"problem":[72,161,184],"for":[73],"multiple":[75],"areas,":[79],"where":[80],"obstacles":[81],"with":[82,173,185],"heights":[84],"exist.":[85],"The":[86,102,189],"objective":[87],"find":[90],"best":[92],"trajectories":[93],"environment":[97],"while":[98],"ensuring":[99],"collision-free":[100],"navigation.":[101],"collision":[103],"prevented":[105],"by":[106],"three":[107],"possible":[108],"alternatives:":[109],"forcing":[110],"drone":[112],"statically":[114],"hover,":[115],"so":[116],"peer":[118],"pass":[120],"first,":[121],"making":[122],"fly":[124],"at":[125],"altitude,":[128],"or":[129],"completely":[130],"changing":[131],"path.":[133],"Multiple":[134],"charging":[135],"stations":[136],"are":[137,177],"made":[138],"available":[139],"allow":[141],"recharge":[145],"batteries":[147],"when":[148],"needed.":[149],"A":[150],"mixed":[151],"integer":[152],"linear":[153],"program":[154],"first":[156],"developed":[157],"model":[159],"achieve":[163],"optimal":[164,215],"navigation":[165],"fleet.":[168],"Afterward,":[169],"two":[170],"heuristic":[171,208],"algorithms":[172],"conceptual":[175],"constructions":[176],"designed":[178,207],"solve":[180],"trajectory":[182],"planning":[183],"faster":[186],"convergence":[187],"speed.":[188],"selected":[190],"simulation":[191],"results":[192],"illustrate":[193],"performance":[195],"our":[197],"framework":[198],"realistic":[200],"maps":[202],"show":[204],"approaches":[209],"provide":[210],"close":[211],"performances":[212],"ones.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
