{"id":"https://openalex.org/W7163043989","doi":"https://doi.org/10.1109/arso68304.2026.11536142","title":"An Online Acoustic Simulation Model for Multicopters as a Foundation for Flight Path Optimization","display_name":"An Online Acoustic Simulation Model for Multicopters as a Foundation for Flight Path Optimization","publication_year":2026,"publication_date":"2026-06-01","ids":{"openalex":"https://openalex.org/W7163043989","doi":"https://doi.org/10.1109/arso68304.2026.11536142"},"language":null,"primary_location":{"id":"doi:10.1109/arso68304.2026.11536142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso68304.2026.11536142","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","raw_type":"proceedings-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/A5119665426","display_name":"Andreas Gr\u00fcnder","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Gr\u00fcnder","raw_affiliation_strings":["Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universität Erlangen-Nürnberg,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universität Erlangen-Nürnberg,Germany","institution_ids":["https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137570680","display_name":"Miriam Geiger","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Miriam Geiger","raw_affiliation_strings":["Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universität Erlangen-Nürnberg,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universität Erlangen-Nürnberg,Germany","institution_ids":["https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010228411","display_name":"Matthias Kalenberg","orcid":"https://orcid.org/0009-0008-3585-4934"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Kalenberg","raw_affiliation_strings":["Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universität Erlangen-Nürnberg,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universität Erlangen-Nürnberg,Germany","institution_ids":["https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014144451","display_name":"J. Benz","orcid":null},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Julian Benz","raw_affiliation_strings":["Institute of Fluid Mechanics (LSTM), Friedrich-Alexander-Universität Erlangen-Nürnberg,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Fluid Mechanics (LSTM), Friedrich-Alexander-Universität Erlangen-Nürnberg,Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137606523","display_name":"Stefan Becker","orcid":null},"institutions":[{"id":"https://openalex.org/I181369854","display_name":"Friedrich-Alexander-Universit\u00e4t Erlangen-N\u00fcrnberg","ror":"https://ror.org/00f7hpc57","country_code":"DE","type":"education","lineage":["https://openalex.org/I181369854"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Becker","raw_affiliation_strings":["Institute of Fluid Mechanics (LSTM), Friedrich-Alexander-Universität Erlangen-Nürnberg,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Fluid Mechanics (LSTM), Friedrich-Alexander-Universität Erlangen-Nürnberg,Germany","institution_ids":["https://openalex.org/I181369854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059197069","display_name":"J\u00f6rg Franke","orcid":"https://orcid.org/0000-0003-0700-2028"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J\u00f6rg Franke","raw_affiliation_strings":["Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universität Erlangen-Nürnberg,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universität Erlangen-Nürnberg,Germany","institution_ids":["https://openalex.org/I4210157642"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5137517906","display_name":"Sebastian Reitelsh\u00f6fer","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Reitelsh\u00f6fer","raw_affiliation_strings":["Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universität Erlangen-Nürnberg,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-Universität Erlangen-Nürnberg,Germany","institution_ids":["https://openalex.org/I4210157642"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.94535196,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"118","last_page":"123"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11489","display_name":"Air Traffic Management and Optimization","score":0.2800000011920929,"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"}},"topics":[{"id":"https://openalex.org/T11489","display_name":"Air Traffic Management and Optimization","score":0.2800000011920929,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.2232999950647354,"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/T11133","display_name":"UAV Applications and Optimization","score":0.03020000085234642,"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/path","display_name":"Path (computing)","score":0.5},{"id":"https://openalex.org/keywords/foundation","display_name":"Foundation (evidence)","score":0.4074000120162964},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.2962000072002411},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.2734000086784363},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.2606000006198883}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4810999929904938},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4142000079154968},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.4074000120162964},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3037000000476837},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.29750001430511475},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2962000072002411},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2734000086784363},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2606000006198883},{"id":"https://openalex.org/C76969082","wikidata":"https://www.wikidata.org/wiki/Q486902","display_name":"Mathematical model","level":2,"score":0.2605000138282776},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.2522999942302704}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/arso68304.2026.11536142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso68304.2026.11536142","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2460618476","https://openalex.org/W3005789041","https://openalex.org/W3102669196","https://openalex.org/W3171056593","https://openalex.org/W3210033989","https://openalex.org/W4280571816","https://openalex.org/W4385494743","https://openalex.org/W4399163293","https://openalex.org/W4402525500","https://openalex.org/W4403406283"],"related_works":[],"abstract_inverted_index":{"The":[0,131],"rapid":[1],"adoption":[2],"of":[3,45,85,152],"autonomous":[4,162],"multicopters":[5],"in":[6,77,136],"low-altitude":[7],"airspace":[8],"has":[9],"necessitated":[10],"new":[11],"noise":[12,17],"mitigation":[13],"strategies.":[14],"As":[15],"mechanical":[16],"reduction":[18],"reaches":[19],"its":[20],"physical":[21],"limits,":[22],"trajectory":[23],"optimization":[24],"via":[25,37],"intelligent":[26],"agents":[27],"offers":[28],"a":[29,70,157],"complementary":[30],"solution.":[31],"However,":[32],"training":[33,160],"such":[34],"agents,":[35],"specifically":[36],"Reinforcement":[38],"Learning,":[39],"is":[40],"hindered":[41],"by":[42,121],"the":[43,78,82,102,113,119,150],"lack":[44],"simulation":[46,64],"environments":[47],"that":[48,74],"couple":[49],"rigid-body":[50],"dynamics":[51],"with":[52,109,126],"acoustic":[53,63,72,128],"emission":[54],"models.":[55],"In":[56],"this":[57],"paper,":[58],"we":[59],"present":[60],"an":[61,110],"online":[62],"framework":[65],"for":[66,92,139,159],"multicopters.":[67],"We":[68,117],"introduce":[69],"parametric":[71],"model":[73,120],"operates":[75],"entirely":[76],"frequency":[79],"domain,":[80],"bypassing":[81],"computational":[83],"overhead":[84],"Fast":[86],"Fourier":[87],"Transforms":[88],"(FFT).":[89],"It":[90],"accounts":[91],"propeller":[93],"speed,":[94],"flight":[95,129],"state,":[96],"and":[97,145],"environmental":[98],"factors,":[99],"integrated":[100],"within":[101],"Robot":[103],"Operating":[104],"System":[105],"2":[106],"(ROS":[107],"2)":[108],"interface":[111],"to":[112],"PX4-Autopilot":[114],"Software-in-the-Loop":[115],"(SITL).":[116],"validate":[118],"comparing":[122],"simulated":[123,137],"observer":[124],"signals":[125],"real-world":[127],"data.":[130],"results":[132],"show":[133],"low":[134],"errors":[135],"overflights":[138],"A-weighted":[140],"spectra":[141],"ranging":[142],"between":[143],"2.5%":[144],"9%.":[146],"This":[147],"validation":[148],"demonstrates":[149],"viability":[151],"our":[153],"modeling":[154],"approach":[155],"as":[156],"tool":[158],"acoustic-aware":[161],"multicopter":[163],"agents.":[164]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-06-02T00:00:00"}