{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,23]],"date-time":"2026-09-23T04:57:47Z","timestamp":1790139467292,"version":"4.0.1"},"reference-count":48,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"3","license":[{"start":{"date-parts":[[2026,3,1]],"date-time":"2026-03-01T00:00:00Z","timestamp":1772323200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,3,1]],"date-time":"2026-03-01T00:00:00Z","timestamp":1772323200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,3,1]],"date-time":"2026-03-01T00:00:00Z","timestamp":1772323200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"European Union's Horizon Europe Research and Innovation Programme","award":["101120732"],"award-info":[{"award-number":["101120732"]}]},{"name":"European Research Council","award":["864042"],"award-info":[{"award-number":["864042"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2026,3]]},"DOI":"10.1109\/lra.2026.3662653","type":"journal-article","created":{"date-parts":[[2026,2,9]],"date-time":"2026-02-09T21:09:14Z","timestamp":1770671354000},"page":"3804-3811","source":"Crossref","is-referenced-by-count":8,"title":["PA-MPPI: Perception-Aware Model Predictive Path Integral Control for Quadrotor Navigation in Unknown Environments"],"prefix":"10.1109","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-1586-1096","authenticated-orcid":false,"given":"Yifan","family":"Zhai","sequence":"first","affiliation":[{"name":"Robotics and Perception Group, Department of Informatics, University of Zurich, Zürich, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-7635-2132","authenticated-orcid":false,"given":"Rudolf","family":"Reiter","sequence":"additional","affiliation":[{"name":"Robotics and Perception Group, Department of Informatics, University of Zurich, Zürich, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3831-6778","authenticated-orcid":false,"given":"Davide","family":"Scaramuzza","sequence":"additional","affiliation":[{"name":"Robotics and Perception Group, Department of Informatics, University of Zurich, Zürich, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"issue":"13","key":"ref1","doi-asserted-by":"crossref","DOI":"10.3390\/s22134712","article-title":"System identification and nonlinear model predictive control with collision avoidance applied in hexacopters UAVs","volume":"22","author":"Recalde","year":"2022","journal-title":"Sensors"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10341871"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-019-09864-1"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610665"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2025.XXI.018"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206030"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/SSRR.2019.8848968"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3311358"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631130"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.ado6187"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2432611"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10802756"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICARCV50220.2020.9305363"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593739"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3505816"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980409"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3071527"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3231827"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adf7843"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/CDC56724.2024.10886807"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.23919\/ECC64448.2024.10590824"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3047728"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1177\/02783649231169803"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abg5810"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA55743.2025.11128042"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2965911"},{"key":"ref27","article-title":"Fisher information field: An efficient and differentiable map for perception-aware planning","author":"Zhang","year":"2020"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161136"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2012.6426381"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA55743.2025.11127320"},{"key":"ref31","article-title":"Semi-infinite programming for collision-avoidance in optimal and model predictive control","author":"Gao","year":"2025"},{"key":"ref32","first-page":"20668","article-title":"Do differentiable simulators give better policy gradients?","volume-title":"Proc. 39th Int. Conf. Mach. Learn., Ser. Proc. Mach. Learn. Res.","volume":"162","author":"Suh","year":"2022"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152468"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1016\/S0377-2217(96)00385-2"},{"key":"ref35","first-page":"4759","article-title":"Deep reinforcement learning in a handful of trials using probabilistic dynamics models","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","author":"Chua","year":"2018"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevLett.95.200201"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.3390\/e17053352"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.2514\/1.g001921"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA55743.2025.11128271"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2026.101045"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/LCSYS.2025.3574151"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10802303"},{"key":"ref43","article-title":"Predictive sampling: Real-time behaviour synthesis with MuJoCo","author":"Howell","year":"2022"},{"key":"ref44","article-title":"A fast voxel traversal algorithm for ray tracing","volume-title":"Proc. EuroGraph.","volume":"87","author":"Amanatides","year":"1987"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abl6259"},{"key":"ref46","first-page":"1","article-title":"Flightmare: A flexible quadrotor simulator","volume-title":"Proc. 4th Conf. Robot Learn.","author":"Song","year":"2020"},{"key":"ref47","article-title":"Habitat-Matterport 3D dataset (HM3D): 1000 large-scale 3D environments for embodied AI","volume-title":"Proc. 35th Conf. Neural Inf. Process. Syst. Datasets Benchmarks Track","author":"Ramakrishnan","year":"2021"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS57906.2023.10156214"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/11359420\/11386891.pdf?arnumber=11386891","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,2,18]],"date-time":"2026-02-18T06:50:29Z","timestamp":1771397429000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11386891\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,3]]},"references-count":48,"journal-issue":{"issue":"3"},"URL":"https:\/\/doi.org\/10.1109\/lra.2026.3662653","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,3]]}}}