{"id":"https://openalex.org/W4391099770","doi":"https://doi.org/10.3390/s24020707","title":"Cooperative Safe Trajectory Planning for Quadrotor Swarms","display_name":"Cooperative Safe Trajectory Planning for Quadrotor Swarms","publication_year":2024,"publication_date":"2024-01-22","ids":{"openalex":"https://openalex.org/W4391099770","doi":"https://doi.org/10.3390/s24020707","pmid":"https://pubmed.ncbi.nlm.nih.gov/38276398"},"language":"en","primary_location":{"id":"doi:10.3390/s24020707","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24020707","pdf_url":"https://www.mdpi.com/1424-8220/24/2/707/pdf?version=1705932697","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/24/2/707/pdf?version=1705932697","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033484606","display_name":"Y. Q. Zhang","orcid":"https://orcid.org/0009-0004-0627-6478"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yahui Zhang","raw_affiliation_strings":["Department of Control Science and Engineering, Tongji University, Shanghai 201804, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Tongji University, Shanghai 201804, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089663996","display_name":"Peng Yi","orcid":"https://orcid.org/0000-0002-2494-1505"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Peng Yi","raw_affiliation_strings":["Department of Control Science and Engineering, Tongji University, Shanghai 201804, China","Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai 201210, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Tongji University, Shanghai 201804, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai 201210, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100359415","display_name":"Yiguang Hong","orcid":"https://orcid.org/0000-0001-9505-8739"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiguang Hong","raw_affiliation_strings":["Department of Control Science and Engineering, Tongji University, Shanghai 201804, China","Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai 201210, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Tongji University, Shanghai 201804, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai 201210, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5089663996"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.5568,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.89279937,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"24","issue":"2","first_page":"707","last_page":"707"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.6900097727775574},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.6176865100860596},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5882027745246887},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5487133860588074},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.45972129702568054},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4107539653778076},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3779975473880768},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32141798734664917},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2864598035812378},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2715951204299927},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12020376324653625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11493492126464844}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6900097727775574},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.6176865100860596},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5882027745246887},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5487133860588074},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.45972129702568054},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4107539653778076},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3779975473880768},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32141798734664917},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2864598035812378},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2715951204299927},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12020376324653625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11493492126464844},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24020707","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24020707","pdf_url":"https://www.mdpi.com/1424-8220/24/2/707/pdf?version=1705932697","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:38276398","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38276398","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11487448","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11487448","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:972552239d7c48518711b094eb465742","is_oa":true,"landing_page_url":"https://doaj.org/article/972552239d7c48518711b094eb465742","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":"Sensors, Vol 24, Iss 2, p 707 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24020707","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24020707","pdf_url":"https://www.mdpi.com/1424-8220/24/2/707/pdf?version=1705932697","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391099770.pdf"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1508056422","https://openalex.org/W1704276703","https://openalex.org/W2002440441","https://openalex.org/W2062731992","https://openalex.org/W2081326455","https://openalex.org/W2099618002","https://openalex.org/W2117195148","https://openalex.org/W2117211893","https://openalex.org/W2133050889","https://openalex.org/W2136207702","https://openalex.org/W2146487916","https://openalex.org/W2147601350","https://openalex.org/W2155313135","https://openalex.org/W2158302837","https://openalex.org/W2162991084","https://openalex.org/W2536620281","https://openalex.org/W2552165419","https://openalex.org/W2591921113","https://openalex.org/W2608775622","https://openalex.org/W2752834980","https://openalex.org/W2769646558","https://openalex.org/W2783345620","https://openalex.org/W2801050201","https://openalex.org/W2902909548","https://openalex.org/W2909122662","https://openalex.org/W2909324603","https://openalex.org/W2937905591","https://openalex.org/W2963809389","https://openalex.org/W2972912463","https://openalex.org/W2972941110","https://openalex.org/W2981460880","https://openalex.org/W2981655159","https://openalex.org/W2999746904","https://openalex.org/W3000932941","https://openalex.org/W3013167434","https://openalex.org/W3045462839","https://openalex.org/W3099578266","https://openalex.org/W3101798601","https://openalex.org/W3135239772","https://openalex.org/W3156089158","https://openalex.org/W3186317065","https://openalex.org/W4211147054","https://openalex.org/W4214830852","https://openalex.org/W4292363360","https://openalex.org/W4379988201"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W2356996864","https://openalex.org/W4244391535","https://openalex.org/W2015393961","https://openalex.org/W2904060783","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2139910871","https://openalex.org/W2361427670","https://openalex.org/W2886240924"],"abstract_inverted_index":{"In":[0,112],"this":[1],"paper,":[2],"we":[3,54,73],"propose":[4],"a":[5,28,56,86,103],"novel":[6],"distributed":[7,88,150],"algorithm":[8],"based":[9],"on":[10,105],"model":[11],"predictive":[12],"control":[13,62],"and":[14,70,82,138,147,157],"alternating":[15],"direction":[16],"multiplier":[17],"method":[18,134,162],"(DMPC-ADMM)":[19],"for":[20,166],"cooperative":[21],"trajectory":[22,31,77,168],"planning":[23,32,78,169],"of":[24,51,59,154,170],"quadrotor":[25,172],"swarms.":[26,173],"First,":[27],"receding":[29],"horizon":[30],"optimization":[33],"problem":[34,79],"is":[35,43,117,163],"constructed,":[36],"in":[37,85,152],"which":[38,93],"the":[39,48,60,75,95,98,121,129,144,167],"differential":[40],"flatness":[41],"property":[42],"used":[44],"to":[45,67,101,109,119],"deal":[46],"with":[47,90,143],"nonlinear":[49],"dynamics":[50],"quadrotors":[52,96],"while":[53],"design":[55],"relaxed":[57],"form":[58],"discrete-time":[61],"barrier":[63],"function":[64],"(DCBF)":[65],"constraint":[66],"balance":[68],"feasibility":[69,158],"safety.":[71,111],"Then,":[72],"decompose":[74],"original":[76],"by":[80,132],"ADMM":[81],"solve":[83],"it":[84],"fully":[87],"manner":[89],"peer-to-peer":[91],"communication,":[92],"induces":[94],"within":[97],"communication":[99,122],"range":[100],"reach":[102],"consensus":[104],"their":[106],"future":[107],"trajectories":[108,130],"enhance":[110],"addition,":[113],"an":[114],"event-triggered":[115],"mechanism":[116],"designed":[118],"reduce":[120],"overhead.":[123],"The":[124],"simulation":[125],"results":[126],"verify":[127],"that":[128,160],"generated":[131],"our":[133,161],"are":[135],"real-time,":[136,155],"safe,":[137],"smooth.":[139],"A":[140],"comprehensive":[141],"comparison":[142],"centralized":[145],"strategy":[146],"several":[148],"other":[149],"strategies":[151],"terms":[153],"safety,":[156],"verifies":[159],"more":[164],"suitable":[165],"large-scale":[171]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-01-25T23:04:38.658462","created_date":"2025-10-10T00:00:00"}