{"id":"https://openalex.org/W3005315741","doi":"https://doi.org/10.1109/icar46387.2019.8981660","title":"Autonomous System for a Racing Quadcopter","display_name":"Autonomous System for a Racing Quadcopter","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3005315741","doi":"https://doi.org/10.1109/icar46387.2019.8981660","mag":"3005315741"},"language":"en","primary_location":{"id":"doi:10.1109/icar46387.2019.8981660","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar46387.2019.8981660","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 19th International Conference on Advanced Robotics (ICAR)","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/A5085455717","display_name":"Adriano M. C. Rezende","orcid":"https://orcid.org/0000-0001-7784-6934"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Adriano M. C. Rezende","raw_affiliation_strings":["Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais,MG,Brazil","Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais, MG, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais,MG,Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais, MG, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050486697","display_name":"Victor R. F. Miranda","orcid":"https://orcid.org/0000-0001-9653-6050"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Victor R. F. Miranda","raw_affiliation_strings":["Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais,MG,Brazil","Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais, MG, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais,MG,Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais, MG, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038130745","display_name":"Henrique N. Machado","orcid":null},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Henrique N. Machado","raw_affiliation_strings":["Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais,MG,Brazil","Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais, MG, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais,MG,Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais, MG, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054136408","display_name":"Ant\u00f4nio C. B. Chiella","orcid":"https://orcid.org/0000-0002-2291-778X"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Antonio C. B. Chiella","raw_affiliation_strings":["Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais,MG,Brazil","Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais, MG, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais,MG,Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais, MG, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058748885","display_name":"Vin\u00edcius Mariano Gon\u00e7alves","orcid":"https://orcid.org/0000-0002-9730-6190"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Vinicius M. Gon\u00e7alves","raw_affiliation_strings":["Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais,MG,Brazil","Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais, MG, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais,MG,Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais, MG, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034989154","display_name":"Gustavo Freitas","orcid":"https://orcid.org/0000-0001-5343-7028"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Gustavo M. Freitas","raw_affiliation_strings":["Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais,MG,Brazil","Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais, MG, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais,MG,Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Postgraduate Program in Electrical Engineering (PPGEE), Universidade Federal de Minas Gerais, MG, Brazil","institution_ids":["https://openalex.org/I110200422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.201,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.97638424,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/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/T11133","display_name":"UAV Applications and Optimization","score":0.9958999752998352,"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/quadcopter","display_name":"Quadcopter","score":0.9712384939193726},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.9393221735954285},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6805115342140198},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6386559009552002},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6177186965942383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5570027828216553},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4951993525028229},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4890614449977875},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.371979296207428},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3439306914806366},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30282944440841675},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12027645111083984}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.9712384939193726},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.9393221735954285},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6805115342140198},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6386559009552002},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6177186965942383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5570027828216553},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4951993525028229},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4890614449977875},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.371979296207428},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3439306914806366},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30282944440841675},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12027645111083984},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar46387.2019.8981660","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar46387.2019.8981660","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 19th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1492585062","https://openalex.org/W1652886962","https://openalex.org/W1971086298","https://openalex.org/W1973734421","https://openalex.org/W2097649661","https://openalex.org/W2109814287","https://openalex.org/W2162991084","https://openalex.org/W2336416123","https://openalex.org/W2482392012","https://openalex.org/W2567496179","https://openalex.org/W2842094876","https://openalex.org/W2890092611","https://openalex.org/W2903647002","https://openalex.org/W2910564871","https://openalex.org/W3156330606"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2966028239","https://openalex.org/W4386328658","https://openalex.org/W3030867911","https://openalex.org/W4293070946","https://openalex.org/W4206409182","https://openalex.org/W4200049555","https://openalex.org/W4232231392","https://openalex.org/W4399767831"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,43,58,75],"present":[4,76],"a":[5,14,25,45,49,60,106],"methodology":[6],"to":[7,27,47,84],"make":[8],"an":[9,68,77],"autonomous":[10],"drone":[11],"fly":[12],"through":[13,54],"sequence":[15],"of":[16,98],"gates":[17],"only":[18],"with":[19,71,92,102,105],"on-board":[20,69],"sensors.":[21],"Our":[22,88],"work":[23],"is":[24],"solution":[26],"the":[28,33,38,55,86,95,99],"AlphaPilot":[29],"Challenge,":[30],"proposed":[31],"by":[32],"Lookheed":[34],"Martin":[35],"Company":[36],"and":[37,101],"Drone":[39],"Racing":[40],"League.":[41],"First,":[42],"propose":[44],"strategy":[46,82],"generate":[48],"smooth":[50],"trajectory":[51],"that":[52],"passes":[53],"gates.":[56],"Then,":[57],"develop":[59],"localization":[61],"system,":[62],"which":[63],"merges":[64],"image":[65],"data":[66],"from":[67],"camera":[70],"IMU":[72],"data.":[73],"Finally,":[74],"artificial":[78],"vector":[79],"field":[80],"based":[81],"used":[83],"control":[85],"quadcopter.":[87],"results":[89],"are":[90],"validated":[91],"simulations":[93],"in":[94],"official":[96],"simulator":[97],"competition":[100],"preliminary":[103],"experiments":[104],"real":[107],"drone.":[108]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
