{"id":"https://openalex.org/W4382935890","doi":"https://doi.org/10.23919/acc55779.2023.10156527","title":"UrbanFly: Uncertainty-Aware Planning for Navigation Amongst High-Rises with Monocular Visual-Inertial SLAM Maps","display_name":"UrbanFly: Uncertainty-Aware Planning for Navigation Amongst High-Rises with Monocular Visual-Inertial SLAM Maps","publication_year":2023,"publication_date":"2023-05-31","ids":{"openalex":"https://openalex.org/W4382935890","doi":"https://doi.org/10.23919/acc55779.2023.10156527"},"language":"en","primary_location":{"id":"doi:10.23919/acc55779.2023.10156527","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc55779.2023.10156527","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/A5062410066","display_name":"Sudarshan S Harithas","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Sudarshan S Harithas","raw_affiliation_strings":["RRC, IIIT,Hyderabad,India","RRC, IIIT, Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"RRC, IIIT,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"RRC, IIIT, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025742463","display_name":"Ayyappa Swamy Thatavarthy","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ayyappa Swamy Thatavarthy","raw_affiliation_strings":["RRC, IIIT,Hyderabad,India","RRC, IIIT, Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"RRC, IIIT,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"RRC, IIIT, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102965012","display_name":"Gurkirat Singh","orcid":"https://orcid.org/0000-0003-3950-5682"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Gurkirat Singh","raw_affiliation_strings":["RRC, IIIT,Hyderabad,India","RRC, IIIT, Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"RRC, IIIT,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"RRC, IIIT, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100754863","display_name":"Arun Kumar Singh","orcid":"https://orcid.org/0000-0001-7317-7032"},"institutions":[{"id":"https://openalex.org/I56085075","display_name":"University of Tartu","ror":"https://ror.org/03z77qz90","country_code":"EE","type":"education","lineage":["https://openalex.org/I56085075"]}],"countries":["EE"],"is_corresponding":false,"raw_author_name":"Arun K Singh","raw_affiliation_strings":["University of Tartu,Estonia","University of Tartu, Estonia"],"affiliations":[{"raw_affiliation_string":"University of Tartu,Estonia","institution_ids":["https://openalex.org/I56085075"]},{"raw_affiliation_string":"University of Tartu, Estonia","institution_ids":["https://openalex.org/I56085075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075816776","display_name":"K. Madhava Krishna","orcid":"https://orcid.org/0000-0001-7846-7901"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"K Madhava Krishna","raw_affiliation_strings":["RRC, IIIT,Hyderabad,India","RRC, IIIT, Hyderabad, India"],"affiliations":[{"raw_affiliation_string":"RRC, IIIT,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"RRC, IIIT, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5062410066"],"corresponding_institution_ids":["https://openalex.org/I65181880"],"apc_list":null,"apc_paid":null,"fwci":0.4412,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.74116852,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"557","last_page":"563"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/T11133","display_name":"UAV Applications and Optimization","score":0.988099992275238,"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/computer-science","display_name":"Computer science","score":0.7093247771263123},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6089581251144409},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5361331105232239},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4741503596305847},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4733852446079254},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.4480552673339844},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43654558062553406},{"id":"https://openalex.org/keywords/reproducing-kernel-hilbert-space","display_name":"Reproducing kernel Hilbert space","score":0.4319957494735718},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4150984287261963},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2723175883293152},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21487319469451904},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1848791241645813},{"id":"https://openalex.org/keywords/hilbert-space","display_name":"Hilbert space","score":0.11461260914802551}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7093247771263123},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6089581251144409},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5361331105232239},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4741503596305847},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4733852446079254},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.4480552673339844},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43654558062553406},{"id":"https://openalex.org/C80884492","wikidata":"https://www.wikidata.org/wiki/Q3345678","display_name":"Reproducing kernel Hilbert space","level":3,"score":0.4319957494735718},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4150984287261963},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2723175883293152},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21487319469451904},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1848791241645813},{"id":"https://openalex.org/C62799726","wikidata":"https://www.wikidata.org/wiki/Q190056","display_name":"Hilbert space","level":2,"score":0.11461260914802551},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc55779.2023.10156527","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc55779.2023.10156527","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":0.7200000286102295,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320338080","display_name":"European Social Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1755205674","https://openalex.org/W1982447260","https://openalex.org/W2019965290","https://openalex.org/W2097148013","https://openalex.org/W2111983383","https://openalex.org/W2172011507","https://openalex.org/W2482726005","https://openalex.org/W2615547864","https://openalex.org/W2615814072","https://openalex.org/W2737883164","https://openalex.org/W2745859992","https://openalex.org/W2905260191","https://openalex.org/W2909324603","https://openalex.org/W2962787639","https://openalex.org/W3049379553","https://openalex.org/W3125449081","https://openalex.org/W3178370501","https://openalex.org/W3202258633","https://openalex.org/W3204369898","https://openalex.org/W4297825594","https://openalex.org/W6696497002","https://openalex.org/W6737769214","https://openalex.org/W6782399914","https://openalex.org/W6798171392"],"related_works":["https://openalex.org/W2018264451","https://openalex.org/W2081900870","https://openalex.org/W2591253179","https://openalex.org/W4287671600","https://openalex.org/W4212827636","https://openalex.org/W2141366819","https://openalex.org/W4322716129","https://openalex.org/W3004408979","https://openalex.org/W4323768008","https://openalex.org/W1941703695"],"abstract_inverted_index":{"We":[0],"present":[1],"UrbanFly:":[2],"an":[3,52],"uncertainty-aware":[4],"realtime":[5],"planning":[6],"framework":[7],"for":[8],"quadrotor":[9],"navigation":[10],"in":[11,84,163,177],"urban":[12],"high-rise":[13],"environments.":[14],"A":[15],"core":[16],"aspect":[17],"of":[18,56,117,136,150,153,160],"UrbanFly":[19,80,173],"is":[20,113],"its":[21],"ability":[22],"to":[23,50,89,100],"robustly":[24],"plan":[25],"directly":[26],"on":[27,129,133,186],"the":[28,46,57,75,118,151,158,170],"sparse":[29,47],"point":[30,48],"clouds":[31,49],"generated":[32],"by":[33,44,156,169],"a":[34,60,114,122,134,187],"Monocular":[35],"Visual":[36],"Inertial":[37],"SLAM":[38],"(VI-SLAM)":[39],"backend.":[40],"It":[41],"achieves":[42],"this":[43,82],"using":[45],"build":[51],"uncertainty-integrated":[53],"cuboid":[54],"representation":[55],"environment":[58],"through":[59],"data-driven":[61],"monocular":[62],"plane":[63],"segmentation":[64],"network.":[65],"Our":[66,110],"chosen":[67],"world":[68],"model":[69],"provides":[70],"faster":[71],"distance":[72],"queries":[73],"than":[74],"more":[76],"common":[77],"voxel-grid":[78],"representation.":[79],"leverages":[81],"capability":[83],"two":[85,90],"different":[86],"ways":[87],"leading":[88],"trajectory":[91,142,183],"optimizers.":[92],"The":[93],"first":[94,119],"optimizer":[95,112,126],"uses":[96,121],"gradient-free":[97],"cross-entropy":[98],"method":[99],"compute":[101],"trajectories":[102],"that":[103],"minimize":[104],"collision":[105,161,181],"probability":[106],"and":[107,120,148,195],"smoothness":[108],"cost.":[109],"second":[111],"simplified":[115],"version":[116],"sequential":[123],"convex":[124],"programming":[125],"initialized":[127],"based":[128],"probabilistic":[130],"safety":[131],"estimates":[132],"set":[135],"randomly":[137],"drawn":[138],"trajectories.":[139],"Both":[140],"our":[141],"optimizers":[143],"are":[144],"made":[145],"computationally":[146],"tractable":[147],"independent":[149],"nature":[152],"underlying":[154],"uncertainty":[155],"embedding":[157],"distribution":[159],"violations":[162],"Reproducing":[164],"Kernel":[165],"Hilbert":[166],"Space.":[167],"Empowered":[168],"algorithmic":[171],"innovation,":[172],"outperforms":[174],"competing":[175],"baselines":[176],"metrics":[178],"such":[179],"as":[180],"rate,":[182],"length,":[184],"etc.,":[185],"high":[188],"fidelity":[189],"AirSim":[190],"simulator":[191],"augmented":[192],"with":[193],"synthetic":[194],"real-world":[196],"dataset":[197],"scenes.":[198]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-12-24T23:09:58.560324","created_date":"2025-10-10T00:00:00"}