{"id":"https://openalex.org/W2038477820","doi":"https://doi.org/10.1155/2014/920534","title":"An Obstacle Avoidance Scheme Maintaining Connectivity for Micro-Unmanned Aerial Vehicles","display_name":"An Obstacle Avoidance Scheme Maintaining Connectivity for Micro-Unmanned Aerial Vehicles","publication_year":2014,"publication_date":"2014-04-01","ids":{"openalex":"https://openalex.org/W2038477820","doi":"https://doi.org/10.1155/2014/920534","mag":"2038477820"},"language":"en","primary_location":{"id":"doi:10.1155/2014/920534","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2014/920534","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1155/2014/920534","source":{"id":"https://openalex.org/S64417657","display_name":"International Journal of Distributed Sensor Networks","issn_l":"1550-1329","issn":["1550-1329","1550-1477"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Distributed Sensor Networks","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://journals.sagepub.com/doi/pdf/10.1155/2014/920534","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103842679","display_name":"Hyo Hyun Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I148751991","display_name":"Sogang University","ror":"https://ror.org/056tn4839","country_code":"KR","type":"education","lineage":["https://openalex.org/I148751991"]},{"id":"https://openalex.org/I4210117446","display_name":"Inha Technical College","ror":"https://ror.org/02j8tr589","country_code":"KR","type":"education","lineage":["https://openalex.org/I4210117446"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyo Hyun Choi","raw_affiliation_strings":["Department of Computer Science and Engineering, Sogang University, Seoul 121-742, Republic of Korea","Department of Computer Science, Inha Technical College, Incheon 402-752, Republic of Korea","1 Department of Computer Science, Inha Technical College, Incheon 402-752, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Sogang University, Seoul 121-742, Republic of Korea","institution_ids":["https://openalex.org/I148751991"]},{"raw_affiliation_string":"Department of Computer Science, Inha Technical College, Incheon 402-752, Republic of Korea","institution_ids":["https://openalex.org/I4210117446"]},{"raw_affiliation_string":"1 Department of Computer Science, Inha Technical College, Incheon 402-752, Republic of Korea","institution_ids":["https://openalex.org/I4210117446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100366819","display_name":"Hyun-Soo Choi","orcid":"https://orcid.org/0000-0002-3594-8948"},"institutions":[{"id":"https://openalex.org/I148751991","display_name":"Sogang University","ror":"https://ror.org/056tn4839","country_code":"KR","type":"education","lineage":["https://openalex.org/I148751991"]},{"id":"https://openalex.org/I4210117446","display_name":"Inha Technical College","ror":"https://ror.org/02j8tr589","country_code":"KR","type":"education","lineage":["https://openalex.org/I4210117446"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"HyunSoo Choi","raw_affiliation_strings":["Department of Computer Science and Engineering, Sogang University, Seoul 121-742, Republic of Korea","Department of Computer Science, Inha Technical College, Incheon 402-752, Republic of Korea","2 Department of Computer Science and Engineering, Sogang University, Seoul 121-742, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Sogang University, Seoul 121-742, Republic of Korea","institution_ids":["https://openalex.org/I148751991"]},{"raw_affiliation_string":"Department of Computer Science, Inha Technical College, Incheon 402-752, Republic of Korea","institution_ids":["https://openalex.org/I4210117446"]},{"raw_affiliation_string":"2 Department of Computer Science and Engineering, Sogang University, Seoul 121-742, Republic of Korea","institution_ids":["https://openalex.org/I148751991"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102054388","display_name":"Myungwhan Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I148751991","display_name":"Sogang University","ror":"https://ror.org/056tn4839","country_code":"KR","type":"education","lineage":["https://openalex.org/I148751991"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myungwhan Choi","raw_affiliation_strings":["Department of Computer Science and Engineering, Sogang University, Seoul 121-742, Republic of Korea","2 Department of Computer Science and Engineering, Sogang University, Seoul 121-742, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Sogang University, Seoul 121-742, Republic of Korea","institution_ids":["https://openalex.org/I148751991"]},{"raw_affiliation_string":"2 Department of Computer Science and Engineering, Sogang University, Seoul 121-742, Republic of Korea","institution_ids":["https://openalex.org/I148751991"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047728508","display_name":"Taeshik Shon","orcid":"https://orcid.org/0000-0003-1177-6405"},"institutions":[{"id":"https://openalex.org/I57664883","display_name":"Ajou University","ror":"https://ror.org/03tzb2h73","country_code":"KR","type":"education","lineage":["https://openalex.org/I57664883"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Taeshik Shon","raw_affiliation_strings":["Division of Information and Computer Engineering, Ajou University, Suwon, Gyeonggi 443-749, Republic of Korea","3 Division of Information and Computer Engineering, Ajou University, Suwon, Gyeonggi 443-749, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Division of Information and Computer Engineering, Ajou University, Suwon, Gyeonggi 443-749, Republic of Korea","institution_ids":["https://openalex.org/I57664883"]},{"raw_affiliation_string":"3 Division of Information and Computer Engineering, Ajou University, Suwon, Gyeonggi 443-749, Republic of Korea","institution_ids":["https://openalex.org/I57664883"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090064302","display_name":"ByoungSeob Park","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117446","display_name":"Inha Technical College","ror":"https://ror.org/02j8tr589","country_code":"KR","type":"education","lineage":["https://openalex.org/I4210117446"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"ByoungSeob Park","raw_affiliation_strings":["Department of Computer Systems & Engineering, Inha Technical College, Incheon 402-752, Republic of Korea","4 Department of Computer Systems & Engineering, Inha Technical College, Incheon 402-752, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Computer Systems & Engineering, Inha Technical College, Incheon 402-752, Republic of Korea","institution_ids":["https://openalex.org/I4210117446"]},{"raw_affiliation_string":"4 Department of Computer Systems & Engineering, Inha Technical College, Incheon 402-752, Republic of Korea","institution_ids":["https://openalex.org/I4210117446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5090064302"],"corresponding_institution_ids":["https://openalex.org/I4210117446"],"apc_list":{"value":2200,"currency":"USD","value_usd":2200},"apc_paid":{"value":2200,"currency":"USD","value_usd":2200},"fwci":0.9527,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.80001774,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"10","issue":"4","first_page":"920534","last_page":"920534"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9991999864578247,"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/obstacle","display_name":"Obstacle","score":0.9346936941146851},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8869712352752686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7648690938949585},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.6681807637214661},{"id":"https://openalex.org/keywords/altitude","display_name":"Altitude (triangle)","score":0.5706341862678528},{"id":"https://openalex.org/keywords/low-altitude","display_name":"Low altitude","score":0.5505825877189636},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42557284235954285},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38501670956611633},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36637628078460693},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.33209970593452454},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27636218070983887},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.264335572719574},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19272789359092712},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.06944066286087036},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06585651636123657},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05301746726036072}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.9346936941146851},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8869712352752686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7648690938949585},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6681807637214661},{"id":"https://openalex.org/C6350597","wikidata":"https://www.wikidata.org/wiki/Q339495","display_name":"Altitude (triangle)","level":2,"score":0.5706341862678528},{"id":"https://openalex.org/C2993172488","wikidata":"https://www.wikidata.org/wiki/Q190200","display_name":"Low altitude","level":3,"score":0.5505825877189636},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42557284235954285},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38501670956611633},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36637628078460693},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.33209970593452454},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27636218070983887},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.264335572719574},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19272789359092712},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.06944066286087036},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06585651636123657},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05301746726036072},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1155/2014/920534","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2014/920534","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1155/2014/920534","source":{"id":"https://openalex.org/S64417657","display_name":"International Journal of Distributed Sensor Networks","issn_l":"1550-1329","issn":["1550-1329","1550-1477"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Distributed Sensor Networks","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:sae:intdis:v:10:y:2014:i:4:p:920534","is_oa":false,"landing_page_url":"https://journals.sagepub.com/doi/10.1155/2014/920534","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:doaj.org/article:5f1d7a22cad1498b9ab70af2e7c22a2c","is_oa":true,"landing_page_url":"https://doaj.org/article/5f1d7a22cad1498b9ab70af2e7c22a2c","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":"International Journal of Distributed Sensor Networks, Vol 10 (2014)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2014/920534","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2014/920534","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1155/2014/920534","source":{"id":"https://openalex.org/S64417657","display_name":"International Journal of Distributed Sensor Networks","issn_l":"1550-1329","issn":["1550-1329","1550-1477"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Distributed Sensor Networks","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5397802730","display_name":null,"funder_award_id":"NRF-2011-0014740","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2038477820.pdf","grobid_xml":"https://content.openalex.org/works/W2038477820.grobid-xml"},"referenced_works_count":9,"referenced_works":["https://openalex.org/W2049699393","https://openalex.org/W2102488278","https://openalex.org/W2122494694","https://openalex.org/W2130230327","https://openalex.org/W2134475023","https://openalex.org/W2141154005","https://openalex.org/W2314167486","https://openalex.org/W2606896788","https://openalex.org/W3150565301"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":{"This":[0,31],"paper":[1],"suggests":[2],"an":[3,20],"obstacle":[4,21,85,121],"avoidance":[5],"scheme":[6,32,161],"that":[7,22],"enables":[8],"a":[9,34,45,87,95,99],"group":[10,55,155],"of":[11,28,47,119,136],"micro-UAV":[12],"(Unmanned":[13],"Aerial":[14],"Vehicles)":[15],"to":[16,38,66,104,113,133,140],"avoid":[17,39,83],"colliding":[18,40,71],"with":[19,41,72],"is":[23,63,111,122],"found":[24],"in":[25,53],"the":[26,29,51,54,68,81,84,117,120,125,143,148,159,164],"course":[27],"flight.":[30,59],"considers":[33],"method":[35],"for":[36,49,64,98],"UAVs":[37,52,65,82,126],"such":[42],"obstacles":[43],"and":[44,101,131,162],"plan":[46],"action":[48],"when":[50],"lose":[56],"connectivity":[57],"during":[58],"The":[60],"main":[61],"goal":[62],"reach":[67],"target":[69],"without":[70],"any":[73],"obstacles.":[74],"To":[75],"achieve":[76],"this":[77,109],"goal,":[78],"directly":[79],"after":[80],"at":[86,94,142],"raised":[88],"altitude":[89,97],"above":[90],"it,":[91],"they":[92,151],"fly":[93,141],"higher":[96],"while":[100,138],"then":[102],"descend":[103],"their":[105],"original":[106],"height.":[107],"When":[108],"approach":[110],"judged":[112],"be":[114],"inefficient":[115],"because":[116],"height":[118],"too":[123],"high,":[124],"divide":[127],"into":[128,153],"two":[129],"groups":[130],"move":[132],"either":[134],"side":[135],"it":[137],"continuing":[139],"same":[144],"altitude,":[145],"thereby":[146],"avoiding":[147],"obstacle.":[149],"Afterwards,":[150],"gather":[152],"one":[154],"again.":[156],"We":[157],"verify":[158],"proposed":[160],"do":[163],"performance":[165],"evaluation":[166],"by":[167],"ns-2.":[168]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
