{"id":"https://openalex.org/W3177730233","doi":"https://doi.org/10.2514/1.i010843","title":"Goal-Aware Robocentric Mapping and Navigation of a Quadrotor Unmanned Aerial Vehicle","display_name":"Goal-Aware Robocentric Mapping and Navigation of a Quadrotor Unmanned Aerial Vehicle","publication_year":2021,"publication_date":"2021-07-06","ids":{"openalex":"https://openalex.org/W3177730233","doi":"https://doi.org/10.2514/1.i010843","mag":"3177730233"},"language":"en","primary_location":{"id":"doi:10.2514/1.i010843","is_oa":false,"landing_page_url":"https://doi.org/10.2514/1.i010843","pdf_url":null,"source":{"id":"https://openalex.org/S4210240151","display_name":"Journal of Aerospace Information Systems","issn_l":"2327-3097","issn":["2327-3097"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315709","host_organization_name":"American Institute of Aeronautics and Astronautics","host_organization_lineage":["https://openalex.org/P4310315709"],"host_organization_lineage_names":["American Institute of Aeronautics and Astronautics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Aerospace Information Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://rave.ohiolink.edu/etdc/view?acc_num=ucin1552581467878839","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016035434","display_name":"Srijanee Biswas","orcid":null},"institutions":[{"id":"https://openalex.org/I63135867","display_name":"University of Cincinnati","ror":"https://ror.org/01e3m7079","country_code":"US","type":"education","lineage":["https://openalex.org/I63135867"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srijanee Biswas","raw_affiliation_strings":["University of Cincinnati, Cincinnati, Ohio 45220"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cincinnati, Cincinnati, Ohio 45220","institution_ids":["https://openalex.org/I63135867"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002161790","display_name":"Rajnikant Sharma","orcid":"https://orcid.org/0000-0003-3515-8353"},"institutions":[{"id":"https://openalex.org/I63135867","display_name":"University of Cincinnati","ror":"https://ror.org/01e3m7079","country_code":"US","type":"education","lineage":["https://openalex.org/I63135867"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rajnikant Sharma","raw_affiliation_strings":["University of Cincinnati, Cincinnati, Ohio 45220"],"raw_orcid":"https://orcid.org/0000-0003-3515-8353","affiliations":[{"raw_affiliation_string":"University of Cincinnati, Cincinnati, Ohio 45220","institution_ids":["https://openalex.org/I63135867"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63135867"],"apc_list":null,"apc_paid":null,"fwci":0.2827,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.54096864,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"18","issue":"8","first_page":"488","last_page":"505"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9965999722480774,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.7161986231803894},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6521665453910828},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5708414316177368},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5539047122001648},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5248717665672302},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5060457587242126},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.49206656217575073},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48991912603378296},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4662334620952606},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.43900832533836365},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4339805245399475},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3242272436618805},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2876793146133423},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27531522512435913},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08350786566734314}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.7161986231803894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6521665453910828},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5708414316177368},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5539047122001648},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5248717665672302},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5060457587242126},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.49206656217575073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48991912603378296},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4662334620952606},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.43900832533836365},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4339805245399475},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3242272436618805},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2876793146133423},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27531522512435913},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08350786566734314},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.2514/1.i010843","is_oa":false,"landing_page_url":"https://doi.org/10.2514/1.i010843","pdf_url":null,"source":{"id":"https://openalex.org/S4210240151","display_name":"Journal of Aerospace Information Systems","issn_l":"2327-3097","issn":["2327-3097"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315709","host_organization_name":"American Institute of Aeronautics and Astronautics","host_organization_lineage":["https://openalex.org/P4310315709"],"host_organization_lineage_names":["American Institute of Aeronautics and Astronautics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Aerospace Information Systems","raw_type":"journal-article"},{"id":"pmh:oai:etd.ohiolink.edu:ucin1552581467878839","is_oa":true,"landing_page_url":"http://rave.ohiolink.edu/etdc/view?acc_num=ucin1552581467878839","pdf_url":null,"source":{"id":"https://openalex.org/S4377196344","display_name":"OhioLink ETD Center (Ohio Library and Information Network)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210155183","host_organization_name":"Ohio Library and Information Network","host_organization_lineage":["https://openalex.org/I4210155183"],"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":"http://rave.ohiolink.edu/etdc/view?acc_num=ucin1552581467878839","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:etd.ohiolink.edu:ucin1552581467878839","is_oa":true,"landing_page_url":"http://rave.ohiolink.edu/etdc/view?acc_num=ucin1552581467878839","pdf_url":null,"source":{"id":"https://openalex.org/S4377196344","display_name":"OhioLink ETD Center (Ohio Library and Information Network)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210155183","host_organization_name":"Ohio Library and Information Network","host_organization_lineage":["https://openalex.org/I4210155183"],"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":"http://rave.ohiolink.edu/etdc/view?acc_num=ucin1552581467878839","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1184431690","https://openalex.org/W1547612193","https://openalex.org/W1571286754","https://openalex.org/W1656165940","https://openalex.org/W1982318371","https://openalex.org/W1982596298","https://openalex.org/W1990012555","https://openalex.org/W1994795581","https://openalex.org/W2005051355","https://openalex.org/W2010904712","https://openalex.org/W2016768068","https://openalex.org/W2035981208","https://openalex.org/W2039921094","https://openalex.org/W2113906280","https://openalex.org/W2127164570","https://openalex.org/W2127578024","https://openalex.org/W2140998418","https://openalex.org/W2145862876","https://openalex.org/W2161128818","https://openalex.org/W2168210109","https://openalex.org/W2229940056","https://openalex.org/W2245289424","https://openalex.org/W2473526392","https://openalex.org/W2578790729","https://openalex.org/W2592547325","https://openalex.org/W3156330606","https://openalex.org/W3157685993"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2917514722","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W1971413691","https://openalex.org/W3043170174","https://openalex.org/W2357323510"],"abstract_inverted_index":{"This":[0,85],"paper":[1],"proposes":[2],"an":[3,8,14],"autonomous":[4],"navigation":[5],"solution":[6,117],"for":[7],"unmanned":[9],"aerial":[10],"vehicle":[11],"(UAV)":[12],"in":[13,80],"unknown":[15],"and":[16,34,75,99,113,140],"Global":[17],"Navigation":[18,32],"Satellite":[19],"System":[20],"(GNNS)-denied":[21],"environment":[22,82],"using":[23],"a":[24,46,88,103,128],"goal-aware":[25,116],"robocentric":[26,130],"reference":[27],"frame.":[28],"A":[29,106],"combined":[30],"Proportional":[31],"(PN)-guidance":[33],"obstacle":[35],"avoidance":[36],"controller":[37],"is":[38,60,111,118,135],"developed":[39],"to":[40,45,62,72,120],"help":[41],"navigate":[42],"the":[43,64,68,73,81,94,97,114,125],"UAV":[44,69],"user-defined":[47],"goal":[48,74,98],"by":[49,102],"successfully":[50],"avoiding":[51],"obstacles":[52],"along":[53],"its":[54],"path.":[55],"An":[56],"extended":[57],"Kalman":[58],"filter":[59],"used":[61],"estimate":[63],"relative":[65],"orientation":[66],"of":[67,78,96],"with":[70],"respect":[71],"other":[76],"objects":[77],"interest":[79],"(called":[83],"landmarks).":[84],"work":[86],"uses":[87],"bearing-only":[89],"measurement":[90],"model":[91],"based":[92],"on":[93],"positions":[95],"landmarks":[100],"provided":[101],"visual":[104],"tracker.":[105],"detailed":[107],"two-dimensional":[108],"observability":[109],"analysis":[110],"performed":[112],"proposed":[115],"shown":[119],"provide":[121],"more":[122],"information":[123],"about":[124],"system":[126],"than":[127],"general":[129],"approach.":[131],"The":[132],"problem":[133],"formulation":[134],"corroborated":[136],"through":[137],"extensive":[138],"simulation":[139],"hardware":[141],"results.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
