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Analysis of institutional authors

Rodriguez Vazquez, Francisco JavierAuthorLu, LiangCorresponding AuthorSampedro, CarlosAuthorRodriguez-Vazquez, JavierAuthorCampoy, PascualAuthor

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January 13, 2020
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Proceedings Paper
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Laser-based Collision Avoidance and Reactive Navigation using RRT* and Signed Distance Field for Multirotor UAVs

Publicated to: 2013 International Conference On Unmanned Aircraft Systems (Icuas). 1209-1217 - 2019-01-01 (), DOI: 10.1109/ICUAS.2019.8798124

Authors:

Lu, L; Sampedro, C; Rodriguez-Vazquez, J; Campoy, P
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Affiliations

Tech Univ Madrid, CSIC, UPM, Comp Vis & Aerial Robot CVAR Grp,CAR, Calle Jose Gutierrez Abascal 2, Madrid, Spain - Author

Abstract

Collision avoidance plays a crucial role for autonomous navigation in unknown dynamic environments and still remains an ongoing research problem. In this paper, we present a new collision avoidance algorithm by combining an RRT* path planner with a Signed Distance Field (SDF) based collision checking algorithm, in which the trajectory is optimized by a short cut and Optimal Polynomial Trajectory algorithms. The proposed algorithm is integrated to work in combination with a Model Predictive Control (MPC) based trajectory controller in order to provide a complete system for reactive navigation purposes. A thorough evaluation of the proposed algorithm has been conducted in several simulating scenarios using RotorS Gazebo simulator, showing fast collision checking capabilities in the presence of static and dynamic obstacles. The results show that the proposed algorithm outperforms in 76.93% considering the processing time when tested in a 1000 x 1000 pixels map. The results also demonstrate that the proposed navigation algorithm allows the safe navigation of a multirotor Unmanned Aerial Vehicle (UAV).
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Keywords

CheckingMotion

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

Independientemente del impacto esperado determinado por el canal de difusión, es importante destacar el impacto real observado de la propia aportación.

Según las diferentes agencias de indexación, el número de citas acumuladas por esta publicación hasta la fecha 2025-12-21:

  • WoS: 9
  • Scopus: 14
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Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-12-21:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 24 (PlumX).
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Leadership analysis of institutional authors

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (LU, LIANG) and Last Author (CAMPOY CERVERA, PASCUAL).

the author responsible for correspondence tasks has been LU, LIANG.

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Awards linked to the item

The work reported in this paper is sponsored by the Chinese Scholarship Council (CSC). The MONCLOA Campus of International Excellence is also acknowledged for funding the predoctoral contract of the second author.
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