{"id":"https://openalex.org/W2799073241","doi":"https://doi.org/10.1108/ir-07-2017-0126","title":"Hybrid obstacle avoidance system with vision and ultrasonic sensors for multi-rotor MAVs","display_name":"Hybrid obstacle avoidance system with vision and ultrasonic sensors for multi-rotor MAVs","publication_year":2018,"publication_date":"2018-02-09","ids":{"openalex":"https://openalex.org/W2799073241","doi":"https://doi.org/10.1108/ir-07-2017-0126","mag":"2799073241"},"language":"en","primary_location":{"id":"doi:10.1108/ir-07-2017-0126","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-07-2017-0126","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"},"type":"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/A5033529466","display_name":"Qiang Zhou","orcid":"https://orcid.org/0000-0003-3697-9348"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210164150","display_name":"Shanghai Center for Brain Science and Brain-Inspired Technology","ror":"https://ror.org/0551a0y31","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Zhou","raw_affiliation_strings":["Brain-Inspired Application Technology Center, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brain-Inspired Application Technology Center, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4210164150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019803400","display_name":"Danping Zou","orcid":"https://orcid.org/0000-0003-3824-8741"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Danping Zou","raw_affiliation_strings":["Shanghai Key Laboratory of Navigation and Location-Based Services, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Key Laboratory of Navigation and Location-Based Services, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032986088","display_name":"Peilin Liu","orcid":"https://orcid.org/0000-0002-5321-2336"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210164150","display_name":"Shanghai Center for Brain Science and Brain-Inspired Technology","ror":"https://ror.org/0551a0y31","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peilin Liu","raw_affiliation_strings":["Brain-Inspired Application Technology Center, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brain-Inspired Application Technology Center, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4210164150"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8518,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.74576685,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"45","issue":"2","first_page":"227","last_page":"236"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9998999834060669,"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":0.9921000003814697,"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/obstacle","display_name":"Obstacle","score":0.8262465000152588},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7999365329742432},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7520098686218262},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6732038259506226},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6589533090591431},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6488456130027771},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.628263533115387},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.51459801197052},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.5023858547210693},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4701269567012787},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.4623952805995941},{"id":"https://openalex.org/keywords/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.45819079875946045},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19771885871887207},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19070518016815186},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10133188962936401},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0985155701637268},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.0951131284236908}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8262465000152588},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7999365329742432},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7520098686218262},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6732038259506226},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6589533090591431},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6488456130027771},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.628263533115387},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.51459801197052},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.5023858547210693},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4701269567012787},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.4623952805995941},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.45819079875946045},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19771885871887207},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19070518016815186},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10133188962936401},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0985155701637268},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0951131284236908},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-07-2017-0126","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-07-2017-0126","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7099999785423279}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1788719447","https://openalex.org/W1974204180","https://openalex.org/W1993362737","https://openalex.org/W2004480427","https://openalex.org/W2011435769","https://openalex.org/W2035118637","https://openalex.org/W2052957987","https://openalex.org/W2060791715","https://openalex.org/W2089662441","https://openalex.org/W2117248802","https://openalex.org/W2126555018","https://openalex.org/W2133844819","https://openalex.org/W2154444440","https://openalex.org/W2165024080","https://openalex.org/W2289539333","https://openalex.org/W2293258566","https://openalex.org/W2312769594","https://openalex.org/W2315792618","https://openalex.org/W2509493982"],"related_works":["https://openalex.org/W2358719579","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W3002010059","https://openalex.org/W2948191189","https://openalex.org/W128884630","https://openalex.org/W2949709491","https://openalex.org/W1992486622","https://openalex.org/W2905493506","https://openalex.org/W1987397303"],"abstract_inverted_index":{"Purpose":[0],"This":[1,219],"paper":[2,220],"aims":[3],"to":[4,44,85,177,184,214,237],"develop":[5],"an":[6,41],"obstacle":[7,54,114,149,224],"avoidance":[8,115,225],"system":[9,32,116,144,175,226],"for":[10,93,240],"a":[11,34,37,59,99,222,228],"multi-rotor":[12],"micro":[13],"aerial":[14],"vehicle":[15],"(MAV)":[16],"that":[17,112,234],"flies":[18],"in":[19,90,103,216],"indoor":[20],"environments":[21],"which":[22],"usually":[23],"contain":[24],"transparent,":[25],"texture-less":[26,123],"or":[27,122,186],"moving":[28,157,182,187],"objects.":[29,158],"Design/methodology/approach":[30],"The":[31,53,96,109,127,161,208],"adopts":[33],"combination":[35],"of":[36,101,155,164,166],"stereo":[38,168],"camera":[39,169],"and":[40,47,63,106,141,170,227],"ultrasonic":[42,171],"sensor":[43,172],"detect":[45],"obstacles":[46,124],"extracts":[48],"three-dimensional":[49],"(3D)":[50],"point":[51,73],"clouds.":[52,74],"map":[55,62,150],"is":[56,82,133],"built":[57],"on":[58,203],"coarse":[60],"global":[61],"updated":[64],"by":[65,69],"local":[66],"maps":[67],"generated":[68],"the":[70,87,113,137,143,148,156,174,204],"recent":[71],"3D":[72,91,139],"An":[75],"efficient":[76],"layered":[77,128,230],"A*":[78,129],"path":[79,88,130,231],"planning":[80,89,131,232],"algorithm":[81,132,140,233],"also":[83],"proposed":[84],"address":[86],"space":[92],"MAVs.":[94],"Findings":[95],"authors":[97],"conducted":[98],"lot":[100],"experiments":[102],"both":[104,167],"static":[105],"dynamic":[107],"scenes.":[108],"results":[110],"show":[111],"works":[117],"reliably":[118],"even":[119],"when":[120,147,195],"transparent":[121],"are":[125,198,235],"present.":[126],"much":[134],"faster":[135],"than":[136],"traditional":[138],"makes":[142,173],"response":[145],"quickly":[146],"has":[151],"been":[152],"changed":[153],"because":[154],"Research":[159],"limitations/implications":[160],"limited":[162],"field":[163],"view":[165],"need":[176],"change":[178],"heading":[179],"first":[180],"before":[181],"side":[183,185],"backward.":[188],"But":[189],"this":[190],"problem":[191],"could":[192,211],"be":[193,212,238],"addressed":[194],"multiple":[196],"systems":[197],"mounted":[199],"toward":[200],"different":[201],"directions":[202],"MAV.":[205],"Practical":[206],"implications":[207],"developed":[209],"approach":[210],"valuable":[213],"applications":[215],"indoors.":[217],"Originality/value":[218],"presents":[221],"robust":[223],"fast":[229],"easy":[236],"implemented":[239],"practical":[241],"systems.":[242]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}