{"id":"https://openalex.org/W4387914498","doi":"https://doi.org/10.1109/codit58514.2023.10284394","title":"Combining 3D Planning and Control Barrier Functions for Safe Motion of Quadrotor UAVs Among Obstacles","display_name":"Combining 3D Planning and Control Barrier Functions for Safe Motion of Quadrotor UAVs Among Obstacles","publication_year":2023,"publication_date":"2023-07-03","ids":{"openalex":"https://openalex.org/W4387914498","doi":"https://doi.org/10.1109/codit58514.2023.10284394"},"language":"en","primary_location":{"id":"doi:10.1109/codit58514.2023.10284394","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/codit58514.2023.10284394","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://iris.uniroma1.it/bitstream/11573/1700186/4/Cristofaro_preprint_Combining_2023.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011482531","display_name":"Andrea Cristofaro","orcid":"https://orcid.org/0000-0002-0757-2912"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"A. Cristofaro","raw_affiliation_strings":["Sapienza Universit&#x00E0; di Roma,Dipartimento di Ingegneria Informatica Automatica e Gestionale &#x201C;Antonio Ruberti&#x201D;,Italia"],"affiliations":[{"raw_affiliation_string":"Sapienza Universit&#x00E0; di Roma,Dipartimento di Ingegneria Informatica Automatica e Gestionale &#x201C;Antonio Ruberti&#x201D;,Italia","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074565525","display_name":"Marco Ferro","orcid":"https://orcid.org/0000-0002-7057-9252"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Ferro","raw_affiliation_strings":["Sapienza Universit&#x00E0; di Roma,Dipartimento di Ingegneria Informatica Automatica e Gestionale &#x201C;Antonio Ruberti&#x201D;,Italia"],"affiliations":[{"raw_affiliation_string":"Sapienza Universit&#x00E0; di Roma,Dipartimento di Ingegneria Informatica Automatica e Gestionale &#x201C;Antonio Ruberti&#x201D;,Italia","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033120247","display_name":"Fabio Galasso","orcid":"https://orcid.org/0000-0003-1875-7813"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"F. Galasso","raw_affiliation_strings":["Sapienza Universit&#x00E0; di Roma,Dipartimento di Ingegneria Informatica Automatica e Gestionale &#x201C;Antonio Ruberti&#x201D;,Italia"],"affiliations":[{"raw_affiliation_string":"Sapienza Universit&#x00E0; di Roma,Dipartimento di Ingegneria Informatica Automatica e Gestionale &#x201C;Antonio Ruberti&#x201D;,Italia","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093120766","display_name":"Mirko Mizzoni","orcid":null},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Mizzoni","raw_affiliation_strings":["Sapienza Universit&#x00E0; di Roma,Dipartimento di Ingegneria Informatica Automatica e Gestionale &#x201C;Antonio Ruberti&#x201D;,Italia"],"affiliations":[{"raw_affiliation_string":"Sapienza Universit&#x00E0; di Roma,Dipartimento di Ingegneria Informatica Automatica e Gestionale &#x201C;Antonio Ruberti&#x201D;,Italia","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093120767","display_name":"A. Pacciarelli","orcid":null},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"A. Pacciarelli","raw_affiliation_strings":["Sapienza Universit&#x00E0; di Roma,Dipartimento di Ingegneria Informatica Automatica e Gestionale &#x201C;Antonio Ruberti&#x201D;,Italia"],"affiliations":[{"raw_affiliation_string":"Sapienza Universit&#x00E0; di Roma,Dipartimento di Ingegneria Informatica Automatica e Gestionale &#x201C;Antonio Ruberti&#x201D;,Italia","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040398924","display_name":"Marilena Vendittelli","orcid":"https://orcid.org/0000-0002-5348-0525"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Vendittelli","raw_affiliation_strings":["Sapienza Universit&#x00E0; di Roma,Dipartimento di Ingegneria Informatica Automatica e Gestionale &#x201C;Antonio Ruberti&#x201D;,Italia"],"affiliations":[{"raw_affiliation_string":"Sapienza Universit&#x00E0; di Roma,Dipartimento di Ingegneria Informatica Automatica e Gestionale &#x201C;Antonio Ruberti&#x201D;,Italia","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5011482531"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13585586,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"33","issue":null,"first_page":"2445","last_page":"2450"},"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/T12158","display_name":"Guidance and Control Systems","score":0.998199999332428,"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":0.9944999814033508,"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":0.8125358819961548},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6742926836013794},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6678565144538879},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6353720426559448},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6095209717750549},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5858098268508911},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5743845105171204},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5259442925453186},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5259019732475281},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.490716814994812},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43406370282173157},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43208327889442444},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.42684391140937805},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38782957196235657},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.35493403673171997},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3243737816810608},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24500951170921326},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1730940043926239},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11244112253189087}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8125358819961548},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6742926836013794},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6678565144538879},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6353720426559448},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6095209717750549},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5858098268508911},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5743845105171204},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5259442925453186},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5259019732475281},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.490716814994812},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43406370282173157},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43208327889442444},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.42684391140937805},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38782957196235657},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.35493403673171997},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3243737816810608},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24500951170921326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1730940043926239},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11244112253189087},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/codit58514.2023.10284394","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/codit58514.2023.10284394","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/1700186","is_oa":true,"landing_page_url":"https://hdl.handle.net/11573/1700186","pdf_url":"https://iris.uniroma1.it/bitstream/11573/1700186/4/Cristofaro_preprint_Combining_2023.pdf","source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:iris.uniroma1.it:11573/1700186","is_oa":true,"landing_page_url":"https://hdl.handle.net/11573/1700186","pdf_url":"https://iris.uniroma1.it/bitstream/11573/1700186/4/Cristofaro_preprint_Combining_2023.pdf","source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4387914498.pdf","grobid_xml":"https://content.openalex.org/works/W4387914498.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1964342070","https://openalex.org/W1973734421","https://openalex.org/W2079570480","https://openalex.org/W2150500908","https://openalex.org/W2489231587","https://openalex.org/W2587415290","https://openalex.org/W2591921113","https://openalex.org/W2797394057","https://openalex.org/W2963497136","https://openalex.org/W2968945909","https://openalex.org/W3035313359","https://openalex.org/W3045806561","https://openalex.org/W3199311036","https://openalex.org/W4315472287","https://openalex.org/W4383066353"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W4206668738","https://openalex.org/W2120267624"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"the":[3,16,47,51,56,70],"combination":[4],"of":[5,18,20,37],"a":[6,25,29,64],"fast":[7],"motion":[8],"planner,":[9,57],"which":[10],"generates":[11],"potentially":[12],"unfeasible":[13],"trajectories":[14],"for":[15],"center":[17],"mass":[19],"an":[21],"underactuated":[22],"UAV,":[23],"with":[24],"tracking":[26],"controller":[27],"integrating":[28],"Control":[30],"Barrier":[31],"Function.":[32],"In":[33],"this":[34],"way":[35],"avoidance":[36],"both":[38],"stationary":[39],"and":[40,66],"moving":[41],"obstacles":[42],"is":[43],"guaranteed":[44],"even":[45],"when":[46],"UAV":[48],"deviates":[49],"from":[50],"collision-free":[52],"trajectory":[53],"issued":[54],"by":[55],"due":[58],"to":[59],"its":[60],"unfeasibility.":[61],"Simulations":[62],"in":[63],"dynamic":[65],"cluttered":[67],"environment":[68],"validate":[69],"method.":[71]},"counts_by_year":[],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
