{"id":"https://openalex.org/W4226035654","doi":"https://doi.org/10.1109/access.2022.3158758","title":"On the Scalability of Vision-Based Drone Swarms in the Presence of Occlusions","display_name":"On the Scalability of Vision-Based Drone Swarms in the Presence of Occlusions","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4226035654","doi":"https://doi.org/10.1109/access.2022.3158758"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3158758","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3158758","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09732989.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09732989.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061841016","display_name":"Fabian Schilling","orcid":"https://orcid.org/0000-0003-3787-5137"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fabian Schilling","raw_affiliation_strings":["Laboratory of Intelligent Systems, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-3787-5137","affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022834296","display_name":"Enrica Soria","orcid":"https://orcid.org/0000-0002-1364-6439"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Enrica Soria","raw_affiliation_strings":["Laboratory of Intelligent Systems, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-1364-6439","affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059369445","display_name":"Dario Floreano","orcid":"https://orcid.org/0000-0002-5330-4863"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dario Floreano","raw_affiliation_strings":["Laboratory of Intelligent Systems, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-5330-4863","affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.8513,"has_fulltext":true,"cited_by_count":27,"citation_normalized_percentile":{"value":0.90609677,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"10","issue":null,"first_page":"28133","last_page":"28146"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.998199999332428,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9891999959945679,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/flocking","display_name":"Flocking (texture)","score":0.7700316905975342},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7548243999481201},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.651177704334259},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6428682804107666},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5800131559371948},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5618656873703003},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.5570220947265625},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.541959285736084},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.5255595445632935},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11042502522468567}],"concepts":[{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.7700316905975342},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7548243999481201},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.651177704334259},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6428682804107666},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5800131559371948},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5618656873703003},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.5570220947265625},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.541959285736084},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.5255595445632935},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11042502522468567},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2022.3158758","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3158758","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09732989.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:bd8dd3c5e9c0444299c4b460e573592f","is_oa":true,"landing_page_url":"https://doaj.org/article/bd8dd3c5e9c0444299c4b460e573592f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 28133-28146 (2022)","raw_type":"article"},{"id":"pmh:oai:infoscience.epfl.ch:292822","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/abstract/document/9732989","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3158758","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3158758","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09732989.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G800675831","display_name":"Bio-inspired control of microflyers in highly complex environments","funder_award_id":"155907","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"},{"id":"https://openalex.org/G993971353","display_name":null,"funder_award_id":"200021","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4226035654.pdf","grobid_xml":"https://content.openalex.org/works/W4226035654.grobid-xml"},"referenced_works_count":52,"referenced_works":["https://openalex.org/W1508718255","https://openalex.org/W1518672027","https://openalex.org/W1578294898","https://openalex.org/W1974897851","https://openalex.org/W1975318518","https://openalex.org/W2021532957","https://openalex.org/W2025053203","https://openalex.org/W2029259235","https://openalex.org/W2047968112","https://openalex.org/W2054381558","https://openalex.org/W2071658511","https://openalex.org/W2088825073","https://openalex.org/W2105850748","https://openalex.org/W2109143107","https://openalex.org/W2112164016","https://openalex.org/W2127347155","https://openalex.org/W2127683394","https://openalex.org/W2130403883","https://openalex.org/W2131585668","https://openalex.org/W2137585588","https://openalex.org/W2143969246","https://openalex.org/W2150555348","https://openalex.org/W2163395004","https://openalex.org/W2342740524","https://openalex.org/W2346349911","https://openalex.org/W2413156523","https://openalex.org/W2523026762","https://openalex.org/W2602214361","https://openalex.org/W2745859992","https://openalex.org/W2884236119","https://openalex.org/W2886401384","https://openalex.org/W2897884082","https://openalex.org/W2916187293","https://openalex.org/W2918649777","https://openalex.org/W2955361002","https://openalex.org/W2963479576","https://openalex.org/W2968678044","https://openalex.org/W2981762858","https://openalex.org/W2987705663","https://openalex.org/W3004962476","https://openalex.org/W3005823520","https://openalex.org/W3009014935","https://openalex.org/W3037683188","https://openalex.org/W3060083038","https://openalex.org/W3096470617","https://openalex.org/W3118665117","https://openalex.org/W3131299624","https://openalex.org/W3134305423","https://openalex.org/W3182036676","https://openalex.org/W4234406933","https://openalex.org/W4239339957","https://openalex.org/W6739610618"],"related_works":["https://openalex.org/W2104089240","https://openalex.org/W2743170747","https://openalex.org/W2097610718","https://openalex.org/W2002188687","https://openalex.org/W2142589698","https://openalex.org/W2794811781","https://openalex.org/W4327740834","https://openalex.org/W4389665619","https://openalex.org/W2138105113","https://openalex.org/W2166744572"],"abstract_inverted_index":{"Vision-based":[0],"drone":[1],"swarms":[2,202],"have":[3,99,130],"recently":[4],"emerged":[5],"as":[6,42,109],"a":[7,67,86,190],"promising":[8],"alternative":[9],"to":[10,92,138,177,186,203],"address":[11],"the":[12,31,49,52,56,61,82,103,110,144,171,210],"fault-tolerance":[13],"and":[14,19,45,106,120,136,184,207,224,231],"flexibility":[15],"limitations":[16],"of":[17,33,51,58,63,117,147,212],"centralized":[18],"communication-based":[20],"aerial":[21],"collective":[22],"systems.":[23],"Although":[24],"most":[25],"vision-based":[26,201],"control":[27,139],"algorithms":[28],"rely":[29],"on":[30,48,60,102,133],"detection":[32,62],"neighbors,":[34,64],"they":[35],"usually":[36],"neglect":[37],"critical":[38],"perceptual":[39],"factors":[40],"such":[41],"visual":[43,72],"occlusions":[44,59,98],"their":[46,163],"effect":[47],"scalability":[50],"swarm.":[53],"To":[54],"estimate":[55],"impact":[57],"we":[65,124],"propose":[66],"simple":[68],"but":[69],"perceptually":[70],"realistic":[71],"neighbor":[73,134],"selection":[74],"model":[75,84],"that":[76,97,126,143,197],"discards":[77],"obstructed":[78],"agents.":[79],"We":[80,141,169],"evaluate":[81],"visibility":[83,135,148],"using":[85,175],"potential-field-based":[87],"flocking":[88,173],"algorithm":[89,174],"with":[90,181],"up":[91,176],"one":[93,178],"thousand":[94],"agents,":[95],"showing":[96],"adverse":[100],"effects":[101,132,146],"inter-agent":[104],"distances":[105],"velocity":[107],"alignment":[108],"swarm":[111],"scales":[112],"up,":[113],"both":[114],"in":[115,189,209],"terms":[116],"group":[118,219],"size":[119],"density.":[121],"In":[122],"particular,":[123],"find":[125],"small":[127],"agent":[128,221],"displacements":[129],"considerable":[131],"lead":[137],"discontinuities.":[140],"show":[142,196],"destabilizing":[145],"switches,":[149],"i.e.,":[150],"agents":[151,161,180],"continuously":[152],"becoming":[153],"visible":[154],"or":[155],"invisible,":[156],"can":[157],"be":[158],"mitigated":[159],"if":[160],"select":[162],"neighbors":[164],"from":[165],"adjacent":[166],"Voronoi":[167],"regions.":[168],"validate":[170],"resulting":[172],"hundred":[179],"quadcopter":[182],"dynamics":[183],"subject":[185],"sensor":[187],"noise":[188],"high-fidelity":[191],"physics":[192],"simulator.":[193],"The":[194,228],"results":[195,215],"Voronoi-based":[198],"interactions":[199],"enable":[200],"remain":[204],"collision-free,":[205],"ordered,":[206],"cohesive":[208],"presence":[211],"occlusions.":[213],"These":[214],"are":[216,234],"consistent":[217],"across":[218],"sizes,":[220],"number":[222],"densities,":[223],"relative":[225],"localization":[226],"noise.":[227],"source":[229],"code":[230],"experimental":[232],"data":[233],"available":[235],"athttps://github.com/lis-epfl/vmodel.":[236]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-10-10T00:00:00"}
