{"id":"https://openalex.org/W4395057317","doi":"https://doi.org/10.1145/3638884.3638959","title":"Comparing RRT and RRT* for Path Planning for UAV in the 3D Urban Occupancy Model","display_name":"Comparing RRT and RRT* for Path Planning for UAV in the 3D Urban Occupancy Model","publication_year":2023,"publication_date":"2023-12-14","ids":{"openalex":"https://openalex.org/W4395057317","doi":"https://doi.org/10.1145/3638884.3638959"},"language":"en","primary_location":{"id":"doi:10.1145/3638884.3638959","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3638884.3638959","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2023 9th International Conference on Communication and Information Processing","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/A5103142397","display_name":"Zihan Chen","orcid":"https://orcid.org/0009-0001-5033-5090"},"institutions":[{"id":"https://openalex.org/I49835588","display_name":"Macao Polytechnic University","ror":"https://ror.org/02sf5td35","country_code":"MO","type":"education","lineage":["https://openalex.org/I49835588"]}],"countries":["MO"],"is_corresponding":true,"raw_author_name":"Zihan Chen","raw_affiliation_strings":["Faculty of Applied Sciences, Macao Polytechnic University, Macao"],"affiliations":[{"raw_affiliation_string":"Faculty of Applied Sciences, Macao Polytechnic University, Macao","institution_ids":["https://openalex.org/I49835588"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070163317","display_name":"Di Kang","orcid":null},"institutions":[{"id":"https://openalex.org/I49835588","display_name":"Macao Polytechnic University","ror":"https://ror.org/02sf5td35","country_code":"MO","type":"education","lineage":["https://openalex.org/I49835588"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Di Kang","raw_affiliation_strings":["Faculty of Applied Sciences, Macao Polytechnic University, Macao"],"affiliations":[{"raw_affiliation_string":"Faculty of Applied Sciences, Macao Polytechnic University, Macao","institution_ids":["https://openalex.org/I49835588"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101760165","display_name":"Yapeng Wang","orcid":"https://orcid.org/0000-0002-1085-5091"},"institutions":[{"id":"https://openalex.org/I49835588","display_name":"Macao Polytechnic University","ror":"https://ror.org/02sf5td35","country_code":"MO","type":"education","lineage":["https://openalex.org/I49835588"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Yapeng Wang","raw_affiliation_strings":["Faculty of Applied Sciences, Macao Polytechnic University, Macao"],"affiliations":[{"raw_affiliation_string":"Faculty of Applied Sciences, Macao Polytechnic University, Macao","institution_ids":["https://openalex.org/I49835588"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045641465","display_name":"Xu Yang","orcid":"https://orcid.org/0000-0002-7037-3609"},"institutions":[{"id":"https://openalex.org/I49835588","display_name":"Macao Polytechnic University","ror":"https://ror.org/02sf5td35","country_code":"MO","type":"education","lineage":["https://openalex.org/I49835588"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Xu Yang","raw_affiliation_strings":["Faculty of Applied Sciences, Macao Polytechnic University, Macao"],"affiliations":[{"raw_affiliation_string":"Faculty of Applied Sciences, Macao Polytechnic University, Macao","institution_ids":["https://openalex.org/I49835588"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022394682","display_name":"Sio\u2010Kei Im","orcid":"https://orcid.org/0000-0002-5599-4300"},"institutions":[{"id":"https://openalex.org/I49835588","display_name":"Macao Polytechnic University","ror":"https://ror.org/02sf5td35","country_code":"MO","type":"education","lineage":["https://openalex.org/I49835588"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Sio-Kei Im","raw_affiliation_strings":["Macao Polytechnic University, Macao"],"affiliations":[{"raw_affiliation_string":"Macao Polytechnic University, Macao","institution_ids":["https://openalex.org/I49835588"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5103142397"],"corresponding_institution_ids":["https://openalex.org/I49835588"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21785752,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"376","last_page":"381"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/matlab","display_name":"MATLAB","score":0.8598244190216064},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7273014783859253},{"id":"https://openalex.org/keywords/toolbox","display_name":"Toolbox","score":0.7174298763275146},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5699445009231567},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4990694522857666},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4923657178878784},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.46743717789649963},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43556997179985046},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4026985466480255},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22220739722251892},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08995673060417175},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.08304429054260254}],"concepts":[{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.8598244190216064},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7273014783859253},{"id":"https://openalex.org/C2777655017","wikidata":"https://www.wikidata.org/wiki/Q1501161","display_name":"Toolbox","level":2,"score":0.7174298763275146},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5699445009231567},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4990694522857666},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4923657178878784},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.46743717789649963},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43556997179985046},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4026985466480255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22220739722251892},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08995673060417175},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.08304429054260254},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3638884.3638959","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3638884.3638959","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2023 9th International Conference on Communication and Information Processing","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1969472392","https://openalex.org/W1971086298","https://openalex.org/W2126316555","https://openalex.org/W2152195021","https://openalex.org/W2288650507","https://openalex.org/W2325423652","https://openalex.org/W2557741120","https://openalex.org/W3196193032","https://openalex.org/W3200051743","https://openalex.org/W4210580908","https://openalex.org/W4211130072","https://openalex.org/W4230821441","https://openalex.org/W4300562770"],"related_works":["https://openalex.org/W2377984624","https://openalex.org/W2348740175","https://openalex.org/W4243049533","https://openalex.org/W2372487761","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583"],"abstract_inverted_index":{"This":[0,141],"paper":[1],"explores":[2],"the":[3,11,25,43,52,55,61,101,106,109,112,144,150,169],"use":[4],"of":[5,14,45,54,63,91,108,146,154,171],"MATLAB's":[6,122],"UAV":[7,155,172],"Toolbox":[8],"to":[9,41,115],"simulate":[10],"flight":[12,70],"path":[13,71],"Unmanned":[15],"Aerial":[16],"Vehicles":[17],"(UAVs)":[18],"in":[19,57,93,148,157,168],"a":[20,64,132],"3D":[21,65],"city":[22,66],"model":[23],"using":[24],"Rapidly":[26],"exploring":[27],"Random":[28],"Tree":[29],"(RRT)":[30],"and":[31,38,86,99,111,118,128,137,152,166,174],"RRT*":[32],"algorithms.":[33,47],"We":[34],"employed":[35],"both":[36],"quantitative":[37],"qualitative":[39],"methods":[40],"evaluate":[42],"performance":[44],"these":[46],"The":[48,68,89],"study":[49,142],"begins":[50],"with":[51,125],"implementation":[53],"algorithms":[56,110],"MATLAB,":[58],"followed":[59],"by":[60],"creation":[62],"model.":[67],"UAV's":[69],"is":[72,95],"then":[73],"simulated":[74],"within":[75],"this":[76],"model,":[77,113],"taking":[78],"into":[79],"account":[80],"various":[81],"factors":[82],"such":[83],"as":[84],"obstacles":[85],"optimal":[87],"paths.":[88],"reproducibility":[90],"simulations":[92],"MATLAB":[94,147],"crucial":[96],"for":[97,105,135,163],"testing":[98,138],"validating":[100],"results.":[102,120],"It":[103],"allows":[104],"fine-tuning":[107],"leading":[114],"more":[116],"accurate":[117],"reliable":[119],"Lastly,":[121],"easy":[123],"integration":[124],"other":[126],"software":[127],"hardware":[129],"makes":[130],"it":[131],"suitable":[133],"platform":[134],"developing":[136],"real-world":[139],"applications.":[140],"demonstrates":[143],"potential":[145],"enhancing":[149],"safety":[151],"efficiency":[153],"operations":[156],"urban":[158],"areas,":[159],"providing":[160],"valuable":[161],"insights":[162],"future":[164],"research":[165],"development":[167],"field":[170],"navigation":[173],"control.":[175]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}