{"id":"https://openalex.org/W4400408843","doi":"https://doi.org/10.3390/a17070304","title":"Sequential Convex Programming for Nonlinear Optimal Control in UAV Trajectory Planning","display_name":"Sequential Convex Programming for Nonlinear Optimal Control in UAV Trajectory Planning","publication_year":2024,"publication_date":"2024-07-08","ids":{"openalex":"https://openalex.org/W4400408843","doi":"https://doi.org/10.3390/a17070304"},"language":"en","primary_location":{"id":"doi:10.3390/a17070304","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/a17070304","pdf_url":"https://www.mdpi.com/1999-4893/17/7/304/pdf?version=1721696193","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1999-4893/17/7/304/pdf?version=1721696193","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100355339","display_name":"Yong Li","orcid":"https://orcid.org/0000-0002-1183-5359"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yong Li","raw_affiliation_strings":["College of Intelligent Systems, Science and Engineering, Harbin Engineering University, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems, Science and Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041131074","display_name":"Qidan Zhu","orcid":"https://orcid.org/0000-0002-8560-6786"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qidan Zhu","raw_affiliation_strings":["College of Intelligent Systems, Science and Engineering, Harbin Engineering University, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems, Science and Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090283668","display_name":"Ahsan Elahi","orcid":"https://orcid.org/0000-0001-9915-9369"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ahsan Elahi","raw_affiliation_strings":["College of Intelligent Systems, Science and Engineering, Harbin Engineering University, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems, Science and Engineering, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5041131074","https://openalex.org/A5100355339"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":0.2536,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.50146617,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"17","issue":"7","first_page":"304","last_page":"304"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9952999949455261,"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":0.9937999844551086,"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/mathematical-optimization","display_name":"Mathematical optimization","score":0.6605473160743713},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.5735102295875549},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.5693883299827576},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5680912733078003},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5677440166473389},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5564659237861633},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5382592082023621},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5023818016052246},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4375101625919342},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40580788254737854},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.38728517293930054},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31294262409210205},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30241623520851135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08414652943611145}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6605473160743713},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.5735102295875549},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.5693883299827576},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5680912733078003},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5677440166473389},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5564659237861633},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5382592082023621},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5023818016052246},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4375101625919342},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40580788254737854},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.38728517293930054},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31294262409210205},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30241623520851135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08414652943611145},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/a17070304","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/a17070304","pdf_url":"https://www.mdpi.com/1999-4893/17/7/304/pdf?version=1721696193","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:174e8bcb9bbf4bf3b39add3931fd600a","is_oa":true,"landing_page_url":"https://doaj.org/article/174e8bcb9bbf4bf3b39add3931fd600a","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Algorithms, Vol 17, Iss 7, p 304 (2024)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1999-4893/17/7/304/","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a17070304","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Algorithms","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/a17070304","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/a17070304","pdf_url":"https://www.mdpi.com/1999-4893/17/7/304/pdf?version=1721696193","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4400408843.pdf"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1489244333","https://openalex.org/W1502376972","https://openalex.org/W1516761194","https://openalex.org/W1581397664","https://openalex.org/W1704276703","https://openalex.org/W1971709723","https://openalex.org/W1974204180","https://openalex.org/W1976517551","https://openalex.org/W1984505032","https://openalex.org/W1995408953","https://openalex.org/W2023832127","https://openalex.org/W2028893450","https://openalex.org/W2062731992","https://openalex.org/W2102488278","https://openalex.org/W2109656638","https://openalex.org/W2141666765","https://openalex.org/W2162991084","https://openalex.org/W2169111973","https://openalex.org/W2245289424","https://openalex.org/W2317713946","https://openalex.org/W2320211399","https://openalex.org/W2891214310","https://openalex.org/W3106159961","https://openalex.org/W3142658448","https://openalex.org/W3144404684","https://openalex.org/W3144742656","https://openalex.org/W6652361965"],"related_works":["https://openalex.org/W2347515520","https://openalex.org/W2003479292","https://openalex.org/W3135469233","https://openalex.org/W2080132051","https://openalex.org/W1578328339","https://openalex.org/W2377665576","https://openalex.org/W2091836778","https://openalex.org/W2378696525","https://openalex.org/W2327610550","https://openalex.org/W2124742998"],"abstract_inverted_index":{"In":[0],"this":[1,51],"paper,":[2],"an":[3],"algorithm":[4],"is":[5,77],"proposed":[6],"to":[7,22,33,56,66],"solve":[8,23],"the":[9,24,35,45,67,80],"non-convex":[10,36],"optimization":[11],"problem":[12],"using":[13],"sequential":[14],"convex":[15],"programming.":[16],"An":[17,28],"approximation":[18],"method":[19,52],"was":[20,31],"used":[21],"collision":[25],"avoidance":[26],"constraint.":[27],"iterative":[29],"approach":[30],"utilized":[32],"estimate":[34],"constraints,":[37],"replacing":[38],"them":[39],"with":[40,85],"their":[41],"linear":[42],"approximations.":[43],"Through":[44],"simulation,":[46],"we":[47],"can":[48],"see":[49],"that":[50,79],"allows":[53],"for":[54],"quadcopters":[55,81],"take":[57],"off":[58],"from":[59],"a":[60,72],"given":[61],"initial":[62],"position":[63,70],"and":[64],"fly":[65],"desired":[68],"final":[69],"within":[71],"specified":[73],"flight":[74],"time.":[75],"It":[76],"guaranteed":[78],"will":[82],"not":[83],"collide":[84],"each":[86],"other":[87],"in":[88],"different":[89],"scenarios.":[90]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
