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dc.contributor.authorSánchez-López, José Luises_ES
dc.contributor.authorWang, Mines_ES
dc.contributor.authorOlivares-Mendez, Miguel A.es_ES
dc.contributor.authorMolina, Martínes_ES
dc.contributor.authorVoos, Holgeres_ES
dc.identifier.citationJournal of Intelligent & Robotic Systems 93: 33–53 (2019)es_ES
dc.description.abstractDeliberative capabilities are essential for intelligent aerial robotic applications in modern life such as package delivery and surveillance. This paper presents a real-time 3D path planning solution for multirotor aerial robots to obtain a feasible, optimal and collision-free path in complex dynamic environments. High-level geometric primitives are employed to compactly represent the situation, which includes self-situation of the robot and situation of the obstacles in the environment. A probabilistic graph is utilized to sample the admissible space without taking into account the existing obstacles. Whenever a planning query is received, the generated probabilistic graph is then explored by an A⋆ discrete search algorithm with an artificial field map as cost function in order to obtain a raw optimal collision-free path, which is subsequently shortened. Realistic simulations in V-REP simulator have been created to validate the proposed path planning solution, integrating it into a fully autonomous multirotor aerial robotic system.es_ES
dc.description.sponsorshipThis work was supported by the “Fonds National de la Recherche” (FNR), Luxembourg, under the project C15/15/10484117 (BEST-RPAS).es_ES
dc.publisherKluwer Academic Publisherses_ES
dc.subjectPath planninges_ES
dc.subjectObstacle avoidancees_ES
dc.subjectDynamic environmentses_ES
dc.subjectAerial roboticses_ES
dc.titleA Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environmentses_ES
dc.description.peerreviewedPeer reviewedes_ES
dc.contributor.funderFonds National de la Recherche Luxembourges_ES
oprm.item.hasRevisionno ko 0 false*
dc.contributor.orcidSánchez-López, José Luis [0000-0002-3285-2107]es_ES
dc.contributor.orcidOlivares-Mendez, Miguel A. [0000-0001-8824-3231]es_ES
dc.contributor.orcidMolina, Martín [0000-0001-7145-1974]es_ES
dc.contributor.orcidVoos, Holger [0000-0002-9600-8386]es_ES
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