{"id":"https://openalex.org/W2968208971","doi":"https://doi.org/10.1109/icra.2019.8793794","title":"Contact\u2013based Navigation Path Planning for Aerial Robots","display_name":"Contact\u2013based Navigation Path Planning for Aerial Robots","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968208971","doi":"https://doi.org/10.1109/icra.2019.8793794","mag":"2968208971"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793794","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5024717956","display_name":"Nikhil Khedekar","orcid":"https://orcid.org/0000-0002-1340-4894"},"institutions":[{"id":"https://openalex.org/I4210148827","display_name":"Birla Institute of Technology and Science, Pilani - Goa Campus","ror":"https://ror.org/046sh6j17","country_code":"IN","type":"education","lineage":["https://openalex.org/I4210148827","https://openalex.org/I74796645"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Nikhil Khedekar","raw_affiliation_strings":["Nikhil Khedekar is an undergraduate student pursuing Computer Science Engineering at Birla Institute of Technology and Science (BITS) Pilani Goa Campus, India"],"affiliations":[{"raw_affiliation_string":"Nikhil Khedekar is an undergraduate student pursuing Computer Science Engineering at Birla Institute of Technology and Science (BITS) Pilani Goa Campus, India","institution_ids":["https://openalex.org/I4210148827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077137296","display_name":"Frank Mascarich","orcid":"https://orcid.org/0000-0003-1164-8673"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frank Mascarich","raw_affiliation_strings":["Frank Mascarich,Christos Papachristos,Tung Dang and Kostas Alexis are with the Autonomous Robots Lab, University of Nevada, Reno, NV, USA"],"affiliations":[{"raw_affiliation_string":"Frank Mascarich,Christos Papachristos,Tung Dang and Kostas Alexis are with the Autonomous Robots Lab, University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072641170","display_name":"Christos Papachristos","orcid":"https://orcid.org/0000-0001-6452-6405"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christos Papachristos","raw_affiliation_strings":["Frank Mascarich,Christos Papachristos,Tung Dang and Kostas Alexis are with the Autonomous Robots Lab, University of Nevada, Reno, NV, USA"],"affiliations":[{"raw_affiliation_string":"Frank Mascarich,Christos Papachristos,Tung Dang and Kostas Alexis are with the Autonomous Robots Lab, University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102979199","display_name":"Tung Dang","orcid":"https://orcid.org/0000-0002-1629-0650"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tung Dang","raw_affiliation_strings":["Frank Mascarich,Christos Papachristos,Tung Dang and Kostas Alexis are with the Autonomous Robots Lab, University of Nevada, Reno, NV, USA"],"affiliations":[{"raw_affiliation_string":"Frank Mascarich,Christos Papachristos,Tung Dang and Kostas Alexis are with the Autonomous Robots Lab, University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022659812","display_name":"Kostas Alexis","orcid":"https://orcid.org/0000-0002-9989-298X"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas Alexis","raw_affiliation_strings":["Frank Mascarich,Christos Papachristos,Tung Dang and Kostas Alexis are with the Autonomous Robots Lab, University of Nevada, Reno, NV, USA"],"affiliations":[{"raw_affiliation_string":"Frank Mascarich,Christos Papachristos,Tung Dang and Kostas Alexis are with the Autonomous Robots Lab, University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.642,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":15,"citation_normalized_percentile":{"value":0.833903,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":90},"biblio":{"volume":"2","issue":null,"first_page":"4161","last_page":"4167"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9999,"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":0.9999,"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":0.9998,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.65371585},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6170147},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5712867},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.55848926},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4689025},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43764746},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32282615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31259316}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793794","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":49,"referenced_works":["https://openalex.org/W1496729756","https://openalex.org/W1580721220","https://openalex.org/W1584143882","https://openalex.org/W1603770268","https://openalex.org/W1988726781","https://openalex.org/W2001686629","https://openalex.org/W2004818396","https://openalex.org/W2007554064","https://openalex.org/W2008793719","https://openalex.org/W2024676408","https://openalex.org/W2038427383","https://openalex.org/W2040465572","https://openalex.org/W2046635640","https://openalex.org/W2050129189","https://openalex.org/W2055913619","https://openalex.org/W2060543224","https://openalex.org/W2091790851","https://openalex.org/W2092849941","https://openalex.org/W2098718871","https://openalex.org/W2102882044","https://openalex.org/W2113463400","https://openalex.org/W2120320883","https://openalex.org/W2121385616","https://openalex.org/W2124756273","https://openalex.org/W2137239910","https://openalex.org/W2162546869","https://openalex.org/W2208015870","https://openalex.org/W2216550548","https://openalex.org/W2219720796","https://openalex.org/W2295977886","https://openalex.org/W2296228853","https://openalex.org/W2465948386","https://openalex.org/W2518043645","https://openalex.org/W2559203616","https://openalex.org/W2565660673","https://openalex.org/W2618092744","https://openalex.org/W2739149728","https://openalex.org/W2783130908","https://openalex.org/W2783369425","https://openalex.org/W2792083172","https://openalex.org/W2792213791","https://openalex.org/W2811042418","https://openalex.org/W2891766795","https://openalex.org/W2952348863","https://openalex.org/W3146047311","https://openalex.org/W4230352707","https://openalex.org/W4246614213","https://openalex.org/W4251255891","https://openalex.org/W625003409"],"related_works":["https://openalex.org/W4292862729","https://openalex.org/W3158921809","https://openalex.org/W3114279067","https://openalex.org/W2618632915","https://openalex.org/W2161428574","https://openalex.org/W2157678966","https://openalex.org/W2150982344","https://openalex.org/W2122871747","https://openalex.org/W2077416514","https://openalex.org/W1904098742"],"abstract_inverted_index":{"In":[0],"this":[1,63],"paper":[2],"the":[3,16,20,82,100,168],"problem":[4],"of":[5,18,77],"contact-based":[6],"navigation":[7,88,95,121],"path":[8,116],"planning":[9,117],"for":[10,143],"aerial":[11,195],"robots":[12],"is":[13,49,73,102,149,165,189],"considered":[14],"with":[15,108],"goal":[17],"enabling":[19],"autonomous":[21],"in-contact":[22,144],"operation":[23],"on":[24],"surfaces":[25,109],"that":[26,76,110,167],"can":[27,34],"be":[28],"highly":[29],"anomalous.":[30],"Such":[31],"a":[32,46,69,124,159,179],"capacity":[33],"prove":[35],"critical":[36],"in":[37,53,67,106,152],"inspection":[38],"through":[39],"contact":[40,107,176],"missions,":[41],"as":[42,44,154,156],"well":[43,155],"when":[45,99,129],"flying":[47,91,135],"robot":[48],"tasked":[50,103],"to":[51,81,104,127,130,134,183,191],"operate":[52],"very":[54],"narrow":[55],"environments":[56],"rendering":[57],"safe":[58],"free-flight":[59],"impossible.":[60],"To":[61],"achieve":[62],"objective,":[64],"beyond":[65],"sliding":[66,133],"contact,":[68],"new":[70,87],"locomotion":[71],"primitive":[72],"introduced,":[74],"namely":[75],"azimuth":[78],"rotations":[79],"perpendicular":[80],"surface":[83,160],"under":[84],"consideration.":[85],"This":[86],"mode,":[89,93,137],"called":[90],"cartwheel":[92,136],"offers":[94],"resourcefulness":[96],"and":[97,123,138,187],"resilience":[98],"system":[101],"move":[105],"are":[111],"otherwise":[112],"non-traversable.":[113],"The":[114,146],"designed":[115],"method":[118,170],"exploits":[119],"both":[120,151],"modalities":[122],"traversability":[125],"metric":[126],"decide":[128],"switch":[131],"from":[132],"overall":[139],"provides":[140],"cost-optimal":[141],"trajectories":[142],"navigation.":[145],"proposed":[147,169],"approach":[148],"verified":[150],"simulation,":[153],"experimentally":[157],"using":[158],"presenting":[161],"complex":[162],"anomalies.":[163],"It":[164],"highlighted":[166],"does":[171],"not":[172],"assume":[173],"any":[174,193],"specialized":[175],"mechanism":[177],"or":[178],"control":[180],"law":[181],"tailored":[182],"physical":[184],"interaction":[185],"tasks,":[186],"hence":[188],"applicable":[190],"almost":[192],"micro":[194],"vehicle":[196],"integrating":[197],"protective":[198],"shrouds":[199],"around":[200],"its":[201],"propellers.":[202]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2968208971","counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2024-12-12T18:17:09.124921","created_date":"2019-08-22"}