{"id":"https://openalex.org/W4382935801","doi":"https://doi.org/10.23919/acc55779.2023.10155844","title":"Quadrotor Motion Planning in Stochastic Wind Fields","display_name":"Quadrotor Motion Planning in Stochastic Wind Fields","publication_year":2023,"publication_date":"2023-05-31","ids":{"openalex":"https://openalex.org/W4382935801","doi":"https://doi.org/10.23919/acc55779.2023.10155844"},"language":"en","primary_location":{"id":"doi:10.23919/acc55779.2023.10155844","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10155844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 American Control Conference (ACC)","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/A5035704541","display_name":"Marcus Greiff","orcid":"https://orcid.org/0000-0003-4690-2221"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Marcus Greiff","raw_affiliation_strings":["Mitsubishi Electric Research Labs (MERL),Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Labs (MERL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050718717","display_name":"Abraham P. Vinod","orcid":"https://orcid.org/0000-0002-7955-9629"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abraham Vinod","raw_affiliation_strings":["Mitsubishi Electric Research Labs (MERL),Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Labs (MERL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028481793","display_name":"Saleh Nabi","orcid":"https://orcid.org/0000-0002-7408-3764"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Saleh Nabi","raw_affiliation_strings":["Mitsubishi Electric Research Labs (MERL),Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Labs (MERL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004144091","display_name":"Stefano Di Cairano","orcid":"https://orcid.org/0000-0002-2363-2807"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefano Di Cairano","raw_affiliation_strings":["Mitsubishi Electric Research Labs (MERL),Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Labs (MERL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I4210159266"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5035704541"],"corresponding_institution_ids":["https://openalex.org/I4210159266"],"apc_list":null,"apc_paid":null,"fwci":0.9839,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.7754066,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"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":0.9980000257492065,"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":0.9840999841690063,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9732000231742859,"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/regular-polygon","display_name":"Regular polygon","score":0.5719262957572937},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5501986145973206},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5451783537864685},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.5431967377662659},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.5397075414657593},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.535358190536499},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.5027618408203125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4696093499660492},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.44925248622894287},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.41707855463027954},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37504661083221436},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2568369209766388},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14700961112976074},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12822994589805603},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10676094889640808}],"concepts":[{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5719262957572937},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5501986145973206},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5451783537864685},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.5431967377662659},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.5397075414657593},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.535358190536499},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.5027618408203125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4696093499660492},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.44925248622894287},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.41707855463027954},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37504661083221436},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2568369209766388},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14700961112976074},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12822994589805603},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10676094889640808},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/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":1,"locations":[{"id":"doi:10.23919/acc55779.2023.10155844","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc55779.2023.10155844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8799999952316284,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1538183267","https://openalex.org/W1552319742","https://openalex.org/W2134066908","https://openalex.org/W2142424817","https://openalex.org/W2181845023","https://openalex.org/W2482392012","https://openalex.org/W2702812625","https://openalex.org/W2887359570","https://openalex.org/W3197225143","https://openalex.org/W3202883604","https://openalex.org/W3209325542","https://openalex.org/W3213820276","https://openalex.org/W4250589301","https://openalex.org/W4388692454","https://openalex.org/W6605295560","https://openalex.org/W6632380756","https://openalex.org/W6633111282","https://openalex.org/W6739989628","https://openalex.org/W6803441884","https://openalex.org/W6838554315"],"related_works":["https://openalex.org/W804484174","https://openalex.org/W4246538999","https://openalex.org/W4244698559","https://openalex.org/W2002361198","https://openalex.org/W56933075","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2482749251","https://openalex.org/W2114119680","https://openalex.org/W2897994211"],"abstract_inverted_index":{"In":[0,28],"this":[1,96],"paper,":[2],"we":[3,30,85],"propose":[4,40],"a":[5,15,33,41,88],"motion":[6],"planner":[7],"for":[8,44],"quadrotors":[9],"in":[10,71,95,118,148],"windy":[11],"environments.":[12],"We":[13,58,105],"extend":[14],"well-known":[16],"convex":[17,70,155],"polynomial":[18],"optimization":[19,73],"(CPO)":[20],"method":[21,142],"to":[22,99],"incorporate":[23],"known":[24],"stochastic":[25],"input":[26],"uncertainties.":[27],"particular,":[29],"focus":[31],"on":[32],"quadrotor":[34],"unmanned":[35],"aerial":[36],"vehicle":[37],"(UAV),":[38],"and":[39,79,137],"new":[42],"objective":[43],"direct":[45],"minimization":[46],"of":[47,51,65,75,112,125,154],"the":[48,52,61,72,76,100,119,140,152],"squared":[49],"${{{\\mathcal{L}}}_2}$-norm":[50],"UAV":[53],"thrust,":[54],"$\\left\\|":[55,66],"f":[56,67],"\\right\\|_{{{{\\mathcal{L}}}_2}}^2$.":[57],"show":[59],"that":[60,87,110,123,139],"first":[62],"two":[63],"moments":[64],"\\right\\|_{{{{\\mathcal{L}}}_2}}^2$":[68],"are":[69],"variables":[74],"CPO":[77,90],"problem,":[78],"can":[80,92,114,129],"be":[81,93,130],"minimized":[82],"directly.":[83],"Furthermore,":[84],"demonstrate":[86],"constrained":[89],"approach":[91],"used":[94],"setting,":[97],"contrary":[98],"more":[101],"popular":[102],"unconstrained":[103],"approaches.":[104],"provide":[106],"examples":[107],"demonstrating:":[108],"(i)":[109],"inclusion":[111],"wind":[113,147],"yield":[115],"significant":[116],"improvements":[117],"considered":[120],"cost;":[121],"(ii)":[122],"re-planning":[124,145],"complex":[126],"paths":[127],"at":[128,132],"done":[131],"rates":[133],"exceeding":[134],"100":[135],"Hz;":[136],"(iii)":[138],"proposed":[141],"facilitates":[143],"online":[144],"leveraging":[146],"free-space":[149],"defined":[150],"as":[151],"union":[153],"sets.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
