{"id":"https://openalex.org/W2041689584","doi":"https://doi.org/10.1007/s10514-007-9069-0","title":"A vision-based autopilot for a miniature air vehicle: joint speed control and lateral obstacle avoidance","display_name":"A vision-based autopilot for a miniature air vehicle: joint speed control and lateral obstacle avoidance","publication_year":2007,"publication_date":"2007-12-21","ids":{"openalex":"https://openalex.org/W2041689584","doi":"https://doi.org/10.1007/s10514-007-9069-0","mag":"2041689584"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-007-9069-0","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-007-9069-0","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://amu.hal.science/hal-01758721","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081151851","display_name":"Julien Serres","orcid":"https://orcid.org/0000-0002-2840-7932"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I21491767","display_name":"Aix-Marseille Universit\u00e9","ror":"https://ror.org/035xkbk20","country_code":"FR","type":"education","lineage":["https://openalex.org/I21491767"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"J. Serres","raw_affiliation_strings":["Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, 163 avenue Luminy, 13288, Marseille cedex 09, France","Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, Marseille cedex 09, France 13288"],"affiliations":[{"raw_affiliation_string":"Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, 163 avenue Luminy, 13288, Marseille cedex 09, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I21491767"]},{"raw_affiliation_string":"Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, Marseille cedex 09, France 13288","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I21491767"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067560643","display_name":"David Dray","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I21491767","display_name":"Aix-Marseille Universit\u00e9","ror":"https://ror.org/035xkbk20","country_code":"FR","type":"education","lineage":["https://openalex.org/I21491767"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"D. Dray","raw_affiliation_strings":["Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, 163 avenue Luminy, 13288, Marseille cedex 09, France","Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, Marseille cedex 09, France 13288"],"affiliations":[{"raw_affiliation_string":"Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, 163 avenue Luminy, 13288, Marseille cedex 09, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I21491767"]},{"raw_affiliation_string":"Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, Marseille cedex 09, France 13288","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I21491767"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086150456","display_name":"Franck Ruffier","orcid":"https://orcid.org/0000-0002-7854-1275"},"institutions":[{"id":"https://openalex.org/I21491767","display_name":"Aix-Marseille Universit\u00e9","ror":"https://ror.org/035xkbk20","country_code":"FR","type":"education","lineage":["https://openalex.org/I21491767"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"F. Ruffier","raw_affiliation_strings":["Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, 163 avenue Luminy, 13288, Marseille cedex 09, France","Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, Marseille cedex 09, France 13288"],"affiliations":[{"raw_affiliation_string":"Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, 163 avenue Luminy, 13288, Marseille cedex 09, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I21491767"]},{"raw_affiliation_string":"Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, Marseille cedex 09, France 13288","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I21491767"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024411706","display_name":"Nicolas Franceschini","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I21491767","display_name":"Aix-Marseille Universit\u00e9","ror":"https://ror.org/035xkbk20","country_code":"FR","type":"education","lineage":["https://openalex.org/I21491767"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"N. Franceschini","raw_affiliation_strings":["Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, 163 avenue Luminy, 13288, Marseille cedex 09, France","Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, Marseille cedex 09, France 13288"],"affiliations":[{"raw_affiliation_string":"Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, 163 avenue Luminy, 13288, Marseille cedex 09, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I21491767"]},{"raw_affiliation_string":"Biorobotics Dept., Movement and Perception Inst., CNRS / Univ. of the Mediterranean, Marseille cedex 09, France 13288","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I21491767"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5081151851"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I21491767"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":9.8569,"has_fulltext":false,"cited_by_count":87,"citation_normalized_percentile":{"value":0.98369847,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"25","issue":"1-2","first_page":"103","last_page":"122"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9993000030517578,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.998199999332428,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/autopilot","display_name":"Autopilot","score":0.8993146419525146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8294562697410583},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7912559509277344},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.698186993598938},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6083186864852905},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4470210671424866},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43565788865089417},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37991631031036377},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35016030073165894},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.34793490171432495},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32818156480789185},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3264601528644562},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.23273834586143494},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13490602374076843},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09379780292510986},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07995399832725525}],"concepts":[{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.8993146419525146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8294562697410583},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7912559509277344},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.698186993598938},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6083186864852905},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4470210671424866},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43565788865089417},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37991631031036377},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35016030073165894},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.34793490171432495},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32818156480789185},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3264601528644562},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.23273834586143494},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13490602374076843},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09379780292510986},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07995399832725525},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10514-007-9069-0","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-007-9069-0","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01758721v1","is_oa":true,"landing_page_url":"https://amu.hal.science/hal-01758721","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Autonomous Robots, 2008, 25 (1-2), pp.103-122. ⟨10.1007/s10514-007-9069-0⟩","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01758721v1","is_oa":true,"landing_page_url":"https://amu.hal.science/hal-01758721","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Autonomous Robots, 2008, 25 (1-2), pp.103-122. ⟨10.1007/s10514-007-9069-0⟩","raw_type":"Journal articles"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.46000000834465027,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W28159728","https://openalex.org/W89519189","https://openalex.org/W240804484","https://openalex.org/W585264499","https://openalex.org/W1492940630","https://openalex.org/W1506754661","https://openalex.org/W1537036774","https://openalex.org/W1540439470","https://openalex.org/W1920952237","https://openalex.org/W1970942406","https://openalex.org/W1971492416","https://openalex.org/W1990574680","https://openalex.org/W1992620155","https://openalex.org/W2021710897","https://openalex.org/W2027628914","https://openalex.org/W2042053239","https://openalex.org/W2043363069","https://openalex.org/W2044598641","https://openalex.org/W2047374839","https://openalex.org/W2050541262","https://openalex.org/W2050843542","https://openalex.org/W2053551005","https://openalex.org/W2065206922","https://openalex.org/W2089619860","https://openalex.org/W2091103693","https://openalex.org/W2091433005","https://openalex.org/W2104067080","https://openalex.org/W2104554811","https://openalex.org/W2105095180","https://openalex.org/W2111116428","https://openalex.org/W2111412385","https://openalex.org/W2113765804","https://openalex.org/W2115270410","https://openalex.org/W2125364098","https://openalex.org/W2126555018","https://openalex.org/W2127183063","https://openalex.org/W2127812073","https://openalex.org/W2137036481","https://openalex.org/W2137237260","https://openalex.org/W2148763077","https://openalex.org/W2148970131","https://openalex.org/W2153525021","https://openalex.org/W2167132660","https://openalex.org/W2167937143","https://openalex.org/W2172253499","https://openalex.org/W2324650733","https://openalex.org/W2332578720","https://openalex.org/W2542496137","https://openalex.org/W3087970120","https://openalex.org/W4233178025","https://openalex.org/W4242561399","https://openalex.org/W4244984750","https://openalex.org/W4285719527","https://openalex.org/W6783574759","https://openalex.org/W6982277243"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}