{"id":"https://openalex.org/W1982086095","doi":"https://doi.org/10.1109/icra.2012.6225215","title":"First results in autonomous landing and obstacle avoidance by a full-scale helicopter","display_name":"First results in autonomous landing and obstacle avoidance by a full-scale helicopter","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1982086095","doi":"https://doi.org/10.1109/icra.2012.6225215","mag":"1982086095"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225215","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225215","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/First_Results_in_Autonomous_Landing_and_Obstacle_Avoidance_by_a_Full-Scale_Helicopter/6554912","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032584934","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8373-4688"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sebastian Scherer","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108206615","display_name":"Lyle Chamberlain","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lyle Chamberlain","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100641190","display_name":"Sanjiv Singh","orcid":"https://orcid.org/0000-0001-5412-2888"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sanjiv Singh","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5032584934"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.3878,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.82353525,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"951","last_page":"956"},"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":0.9997000098228455,"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/T12158","display_name":"Guidance and Control Systems","score":0.994700014591217,"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/collision-avoidance","display_name":"Collision avoidance","score":0.7910889387130737},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7160758972167969},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6776506900787354},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6003872156143188},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5888228416442871},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.547248125076294},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4509791433811188},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43748152256011963},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3877272605895996},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38161537051200867},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3510531187057495},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34956395626068115},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.33195799589157104},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26028093695640564},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22635629773139954},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1596985161304474},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11803814768791199},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.06190022826194763}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7910889387130737},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7160758972167969},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6776506900787354},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6003872156143188},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5888228416442871},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.547248125076294},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4509791433811188},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43748152256011963},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3877272605895996},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38161537051200867},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3510531187057495},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34956395626068115},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.33195799589157104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26028093695640564},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22635629773139954},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1596985161304474},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11803814768791199},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.06190022826194763},{"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},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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":6,"locations":[{"id":"doi:10.1109/icra.2012.6225215","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225215","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.cmu.edu:robotics-1910","is_oa":false,"landing_page_url":"http://repository.cmu.edu/robotics/917","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics Institute","raw_type":"text"},{"id":"pmh:doi:10.1184/r1/6554912","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal contribution"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.225.5020","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.225.5020","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/2012/5/ICRA12_1750_FI.pdf","raw_type":"text"},{"id":"pmh:oai:figshare.com:article/6554912","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/First_Results_in_Autonomous_Landing_and_Obstacle_Avoidance_by_a_Full-Scale_Helicopter/6554912","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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":"","raw_type":"Text"},{"id":"doi:10.1184/r1/6554912.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6554912.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":[],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6554912","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/First_Results_in_Autonomous_Landing_and_Obstacle_Avoidance_by_a_Full-Scale_Helicopter/6554912","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1974204180","https://openalex.org/W1994745532","https://openalex.org/W2019586060","https://openalex.org/W2026623447","https://openalex.org/W2095611780","https://openalex.org/W2098303625","https://openalex.org/W2100805615","https://openalex.org/W2108392990","https://openalex.org/W2133833378","https://openalex.org/W2318562453","https://openalex.org/W2326628763","https://openalex.org/W2549566265","https://openalex.org/W2734339407","https://openalex.org/W6729537620"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2023024008","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1911254468","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404"],"abstract_inverted_index":{"Currently":[0],"deployed":[1],"unmanned":[2],"rotorcraft":[3],"rely":[4],"on":[5,74],"carefully":[6],"preplanned":[7],"missions":[8],"and":[9,14,21,45,68,78,100,121],"operate":[10],"from":[11,93],"prepared":[12],"sites":[13,38,120],"thus":[15],"avoid":[16],"the":[17,24,29,43,56,75,109],"need":[18],"to":[19,23,53],"perceive":[20],"react":[22],"environment.":[25],"Here":[26],"we":[27],"consider":[28],"problems":[30],"of":[31,42],"finding":[32],"suitable":[33],"but":[34],"previously":[35],"unmapped":[36],"landing":[37,64,97,119],"given":[39],"general":[40],"coordinates":[41],"goal":[44],"planning":[46,80],"collision":[47],"free":[48],"trajectories":[49],"in":[50],"real":[51],"time":[52],"land":[54],"at":[55,103],"\u201coptimal\u201d":[57],"site.":[58],"This":[59],"requires":[60],"accurate":[61],"mapping,":[62],"fast":[63],"zone":[65],"evaluation":[66],"algorithms,":[67],"motion":[69,79],"planning.":[70],"We":[71,90],"report":[72],"here":[73],"sensing,":[76],"perception":[77],"integrated":[81],"onto":[82],"a":[83],"full-scale":[84,112],"helicopter":[85,113],"that":[86,114],"flies":[87],"completely":[88],"autonomously.":[89],"show":[91],"results":[92],"8":[94],"experiments":[95,106],"for":[96],"site":[98],"selection":[99],"5":[101],"runs":[102],"obstacles.":[104,123],"These":[105],"have":[107],"demonstrated":[108],"first":[110],"autonomous":[111],"successfully":[115],"selects":[116],"its":[117],"own":[118],"avoids":[122]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
