{"id":"https://openalex.org/W4405787428","doi":"https://doi.org/10.1109/iros58592.2024.10802863","title":"Energy-efficient Trajectory Planning with Media Transition for a Hybrid Unmanned Aerial-Underwater Vehicle","display_name":"Energy-efficient Trajectory Planning with Media Transition for a Hybrid Unmanned Aerial-Underwater Vehicle","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787428","doi":"https://doi.org/10.1109/iros58592.2024.10802863"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802863","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802863","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5027433639","display_name":"Pedro M. Pinheiro","orcid":"https://orcid.org/0000-0002-8564-458X"},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Pedro M. Pinheiro","raw_affiliation_strings":["Universidade Federal do Rio Grande - FURG,NAUTEC, Center for Computational Science,Rio Grande,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal do Rio Grande - FURG,NAUTEC, Center for Computational Science,Rio Grande,Brazil","institution_ids":["https://openalex.org/I126460647"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083656237","display_name":"Armando Alves Neto","orcid":"https://orcid.org/0000-0002-4940-0377"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Armando Alves Neto","raw_affiliation_strings":["Univ. Federal de Minas Gerais,Dept. of Electronics Engineering,Belo Horizonte,Brazil"],"affiliations":[{"raw_affiliation_string":"Univ. Federal de Minas Gerais,Dept. of Electronics Engineering,Belo Horizonte,Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074933369","display_name":"Douglas G. Macharet","orcid":"https://orcid.org/0000-0002-1781-7186"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Douglas G. Macharet","raw_affiliation_strings":["Univ. Federal de Minas Gerais,Computer Vision and Robotics Laboratory (VeRLab),Dep. of Computer Science,Belo Horizonte,Brazil"],"affiliations":[{"raw_affiliation_string":"Univ. Federal de Minas Gerais,Computer Vision and Robotics Laboratory (VeRLab),Dep. of Computer Science,Belo Horizonte,Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037041582","display_name":"Paulo Drews","orcid":"https://orcid.org/0000-0002-7519-0502"},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Paulo L. J. Drews","raw_affiliation_strings":["Universidade Federal do Rio Grande - FURG,NAUTEC, Center for Computational Science,Rio Grande,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal do Rio Grande - FURG,NAUTEC, Center for Computational Science,Rio Grande,Brazil","institution_ids":["https://openalex.org/I126460647"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027433639"],"corresponding_institution_ids":["https://openalex.org/I126460647"],"apc_list":null,"apc_paid":null,"fwci":0.3546,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.63529801,"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":"5424","last_page":"5429"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9962000250816345,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9879999756813049,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.7190163135528564},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.662056028842926},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5316788554191589},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.5305958986282349},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.4800318777561188},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4774113893508911},{"id":"https://openalex.org/keywords/unmanned-underwater-vehicle","display_name":"Unmanned underwater vehicle","score":0.45661160349845886},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43504345417022705},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.36122238636016846},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26813387870788574},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20666319131851196},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19515949487686157},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16862991452217102},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1189335286617279}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7190163135528564},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.662056028842926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5316788554191589},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.5305958986282349},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4800318777561188},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4774113893508911},{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.45661160349845886},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43504345417022705},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.36122238636016846},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26813387870788574},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20666319131851196},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19515949487686157},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16862991452217102},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1189335286617279},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802863","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802863","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6800000071525574,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1843575698","https://openalex.org/W1964973847","https://openalex.org/W2165216595","https://openalex.org/W2790429190","https://openalex.org/W2883861263","https://openalex.org/W2933682034","https://openalex.org/W2994712990","https://openalex.org/W3005166619","https://openalex.org/W3096326706","https://openalex.org/W3120739971","https://openalex.org/W3138611510","https://openalex.org/W3214514793","https://openalex.org/W3216799660","https://openalex.org/W4214839708","https://openalex.org/W4220865539","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W4372267671","https://openalex.org/W2079693677","https://openalex.org/W4312756471","https://openalex.org/W1577440474","https://openalex.org/W2981706417","https://openalex.org/W811900207","https://openalex.org/W2515556373","https://openalex.org/W2604586813","https://openalex.org/W1763276989","https://openalex.org/W4235285863"],"abstract_inverted_index":{"Vehicles":[0],"capable":[1],"of":[2,44,94,101,148,157],"operating":[3],"in":[4,123,136,142,179],"more":[5],"than":[6],"one":[7,117],"environment":[8,108],"have":[9],"been":[10],"developed":[11],"to":[12,50,89,121,154,169],"solve":[13],"real":[14],"problems.":[15],"Among":[16],"them,":[17],"the":[18,28,45,51,61,91,95,103,107,110,115,124,128,155,158,176,180],"hybrid":[19,96],"unmanned":[20],"aerial-underwater":[21],"vehicle":[22,38],"(HUAUV)":[23],"is":[24,70,151],"receiving":[25],"attention":[26],"from":[27],"robotics":[29],"community,":[30],"mainly":[31],"with":[32,109],"a":[33,66,77],"quadrotor-like":[34],"configuration.":[35],"However,":[36],"this":[37],"presents":[39],"high":[40],"energy":[41,92,171],"consumption":[42,172],"because":[43],"larger":[46],"mass":[47],"required":[48],"compared":[49],"only":[52],"aerial":[53],"vehicle,":[54],"limiting":[55],"its":[56],"autonomy.":[57],"This":[58],"work":[59],"addresses":[60],"trajectory":[62],"planning":[63,80],"problem":[64],"for":[65],"HUAUV.":[67],"The":[68,98],"method":[69],"based":[71],"on":[72],"Rapidly-exploring":[73],"Random":[74],"Trees":[75],"(RRTs),":[76],"highly":[78],"customizable":[79],"technique.":[81],"In":[82],"addition,":[83],"we":[84],"propose":[85],"two":[86],"new":[87],"heuristics":[88,165],"increase":[90,175],"efficiency":[93],"vehicle.":[97],"first":[99],"consists":[100],"biasing":[102],"tree":[104,125],"expansion":[105],"towards":[106],"lowest":[111],"navigation":[112],"cost,":[113],"while":[114],"second":[116],"assigns":[118],"estimated":[119],"costs":[120],"nodes":[122],"and":[126,173],"chooses":[127],"least":[129],"expensive":[130],"trajectories.":[131],"These":[132],"techniques":[133],"are":[134],"evaluated":[135],"physically":[137],"realistic":[138],"simulation":[139],"experiments":[140],"performed":[141,182],"135":[143],"scenarios.":[144],"A":[145],"comparative":[146],"analysis":[147],"their":[149],"performances":[150],"presented":[152],"relative":[153],"state":[156],"art.":[159],"We":[160],"show":[161],"that":[162],"using":[163],"efficient":[164],"can":[166],"significantly":[167],"contribute":[168],"reducing":[170],"even":[174],"average":[177],"velocity":[178],"missions":[181],"by":[183],"these":[184],"vehicles.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}