{"id":"https://openalex.org/W2057799302","doi":"https://doi.org/10.1177/0278364914558129","title":"Aggressive flight of fixed-wing and quadrotor aircraft in dense indoor environments","display_name":"Aggressive flight of fixed-wing and quadrotor aircraft in dense indoor environments","publication_year":2015,"publication_date":"2015-03-20","ids":{"openalex":"https://openalex.org/W2057799302","doi":"https://doi.org/10.1177/0278364914558129","mag":"2057799302"},"language":"en","primary_location":{"id":"doi:10.1177/0278364914558129","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914558129","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/106948","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047906613","display_name":"Adam Bry","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Adam Bry","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010603955","display_name":"Charles Richter","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Charles Richter","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082573410","display_name":"Abraham Bachrach","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abraham Bachrach","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103263485","display_name":"Nicholas Roy","orcid":"https://orcid.org/0000-0001-9307-4196"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Roy","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5047906613"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":5.6148,"has_fulltext":false,"cited_by_count":161,"citation_normalized_percentile":{"value":0.97266773,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"34","issue":"7","first_page":"969","last_page":"1002"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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/T12158","display_name":"Guidance and Control Systems","score":0.9988999962806702,"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/trajectory","display_name":"Trajectory","score":0.6629030108451843},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6245952248573303},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5548935532569885},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5049863457679749},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4979579448699951},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.47780901193618774},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.4762949049472809},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.44717076420783997},{"id":"https://openalex.org/keywords/fixed-wing","display_name":"Fixed wing","score":0.4286523759365082},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4227994978427887},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.41803669929504395},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2935057282447815},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.2812068462371826},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2359740436077118},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19856783747673035},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.19332653284072876},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18030858039855957},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17940610647201538},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13609781861305237},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08243933320045471}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6629030108451843},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6245952248573303},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5548935532569885},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5049863457679749},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4979579448699951},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.47780901193618774},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.4762949049472809},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.44717076420783997},{"id":"https://openalex.org/C3018522811","wikidata":"https://www.wikidata.org/wiki/Q2875704","display_name":"Fixed wing","level":3,"score":0.4286523759365082},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4227994978427887},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.41803669929504395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2935057282447815},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.2812068462371826},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2359740436077118},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19856783747673035},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.19332653284072876},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18030858039855957},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17940610647201538},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13609781861305237},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08243933320045471},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364914558129","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914558129","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/106948","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/106948","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/JournalArticle"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/106948","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/106948","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/JournalArticle"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.75}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W104471904","https://openalex.org/W169414593","https://openalex.org/W1424654272","https://openalex.org/W1530509856","https://openalex.org/W1530904667","https://openalex.org/W1546511338","https://openalex.org/W1735722559","https://openalex.org/W1839719523","https://openalex.org/W1971086298","https://openalex.org/W1982318371","https://openalex.org/W1984375769","https://openalex.org/W1985249384","https://openalex.org/W1991902293","https://openalex.org/W2000359213","https://openalex.org/W2003835006","https://openalex.org/W2016956950","https://openalex.org/W2019586060","https://openalex.org/W2020259684","https://openalex.org/W2049561732","https://openalex.org/W2071401582","https://openalex.org/W2088384463","https://openalex.org/W2091307069","https://openalex.org/W2099893201","https://openalex.org/W2102303010","https://openalex.org/W2103052138","https://openalex.org/W2105080564","https://openalex.org/W2108674204","https://openalex.org/W2109656638","https://openalex.org/W2112510830","https://openalex.org/W2114384289","https://openalex.org/W2129992565","https://openalex.org/W2135661092","https://openalex.org/W2142298978","https://openalex.org/W2151104204","https://openalex.org/W2152495729","https://openalex.org/W2153219011","https://openalex.org/W2156064084","https://openalex.org/W2160584648","https://openalex.org/W2161685125","https://openalex.org/W2162991084","https://openalex.org/W2166500251","https://openalex.org/W2178829616","https://openalex.org/W2221321873","https://openalex.org/W2293883387","https://openalex.org/W2326206646","https://openalex.org/W2482392012","https://openalex.org/W2611243847","https://openalex.org/W2798766386","https://openalex.org/W2955398884","https://openalex.org/W3083764925","https://openalex.org/W4210700398","https://openalex.org/W4242423212","https://openalex.org/W4254313632"],"related_works":["https://openalex.org/W2267127512","https://openalex.org/W1575088825","https://openalex.org/W2089114113","https://openalex.org/W2109099644","https://openalex.org/W2389555968","https://openalex.org/W2607296647","https://openalex.org/W1585960250","https://openalex.org/W2341297234","https://openalex.org/W4323768038","https://openalex.org/W1982370455"],"abstract_inverted_index":{"In":[0],"this":[1,112],"paper,":[2],"we":[3,147],"describe":[4],"trajectory":[5,34,124],"planning":[6],"and":[7,27,36,58,69,71,73,120,200,222],"state":[8,37,42,142,182],"estimation":[9,38,143,173],"algorithms":[10],"for":[11,55,136,144,219,225],"aggressive":[12,23,98,145,210],"flight":[13,211],"of":[14,44,66,90,106,187,198,209,214],"micro":[15],"aerial":[16],"vehicles":[17,57,115],"in":[18,30,39,86,178,203],"known,":[19],"obstacle-dense":[20],"environments.":[21,205],"Finding":[22],"but":[24,183],"dynamically":[25],"feasible":[26],"collision-free":[28],"trajectories":[29,99,135,202],"cluttered":[31,204],"environments":[32],"requires":[33],"optimization":[35,85],"the":[40,45,87,102,150,179,196,220,226],"full":[41,103,180],"space":[43,89],"vehicle,":[46],"which":[47,130],"is":[48],"usually":[49],"computationally":[50],"infeasible":[51],"on":[52,63],"realistic":[53],"timescales":[54],"real":[56],"sensors.":[59],"We":[60,109,191,206],"first":[61],"build":[62],"previous":[64],"work":[65,113],"van":[67],"Nieuwstadt":[68],"Murray":[70],"Mellinger":[72],"Kumar,":[74],"to":[75,96,114,133,157,162,175,216],"show":[76,148,207],"how":[77,149],"a":[78,91,107,122,127,166],"search":[79],"process":[80],"can":[81,154],"be":[82,155,163],"coupled":[83],"with":[84,116,165,184,193],"output":[88],"differentially":[92],"flat":[93],"vehicle":[94,181],"model":[95],"find":[97],"that":[100],"utilize":[101],"maneuvering":[104],"capabilities":[105],"quadrotor.":[108],"further":[110],"extend":[111],"complex,":[117],"Dubins-type":[118],"dynamics":[119],"present":[121],"novel":[123],"representation":[125],"called":[126],"\u201cDubins\u2013Polynomial":[128],"trajectory\u201d,":[129],"allows":[131,171],"us":[132],"optimize":[134],"fixed-wing":[137,201,227],"vehicles.":[138],"To":[139],"provide":[140],"accurate":[141],"flight,":[146],"Gaussian":[151],"particle":[152,176],"filter":[153],"extended":[156],"allow":[158],"laser":[159],"rangefinder":[160],"localization":[161],"combined":[164],"Kalman":[167],"filter.":[168],"This":[169],"formulation":[170],"similar":[172],"accuracy":[174],"filtering":[177],"an":[185],"order":[186],"magnitude":[188],"more":[189],"efficiency.":[190],"conclude":[192],"experiments":[194],"demonstrating":[195],"execution":[197],"quadrotor":[199,221],"results":[208],"at":[212],"speeds":[213],"up":[215],"8":[217],"m/s":[218,224],"11":[223],"aircraft.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":30},{"year":2024,"cited_by_count":27},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":1}],"updated_date":"2026-05-21T09:19:25.381259","created_date":"2025-10-10T00:00:00"}