{"id":"https://openalex.org/W1980969546","doi":"https://doi.org/10.1109/icra.2013.6630809","title":"Learning monocular reactive UAV control in cluttered natural environments","display_name":"Learning monocular reactive UAV control in cluttered natural environments","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W1980969546","doi":"https://doi.org/10.1109/icra.2013.6630809","mag":"1980969546"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630809","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630809","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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/A5057087592","display_name":"St\u00e9phane Ross","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":true,"raw_author_name":"Stephane Ross","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090745104","display_name":"Narek Melik-Barkhudarov","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":"Narek Melik-Barkhudarov","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060596140","display_name":"Kumar Shaurya Shankar","orcid":"https://orcid.org/0000-0002-1267-733X"},"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":"Kumar Shaurya Shankar","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023037772","display_name":"Andreas Wendel","orcid":"https://orcid.org/0000-0002-2160-4220"},"institutions":[{"id":"https://openalex.org/I4092182","display_name":"Graz University of Technology","ror":"https://ror.org/00d7xrm67","country_code":"AT","type":"education","lineage":["https://openalex.org/I4092182"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Andreas Wendel","raw_affiliation_strings":["Institute for Computer Graphics and Vision, Graz University of Technology, Austria","[Inst. for Comput. Graphics & Vision, Graz Univ. of Technol., Graz, Austria]"],"affiliations":[{"raw_affiliation_string":"Institute for Computer Graphics and Vision, Graz University of Technology, Austria","institution_ids":["https://openalex.org/I4092182"]},{"raw_affiliation_string":"[Inst. for Comput. Graphics & Vision, Graz Univ. of Technol., Graz, Austria]","institution_ids":["https://openalex.org/I4092182"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103717145","display_name":"Debadeepta Dey","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":"Debadeepta Dey","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112411386","display_name":"J. Andrew Bagnell","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":"J. Andrew Bagnell","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075246991","display_name":"Martial Hebert","orcid":"https://orcid.org/0000-0003-4566-5930"},"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":"Martial Hebert","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5057087592"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":485.2864,"has_fulltext":false,"cited_by_count":413,"citation_normalized_percentile":{"value":0.99994452,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1765","last_page":"1772"},"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":0.9997000098228455,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9979000091552734,"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/computer-science","display_name":"Computer science","score":0.6634411215782166},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6054967641830444},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5536148548126221},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.5435076355934143},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5184085369110107},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4903888702392578},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4489155411720276},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.41780680418014526},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.41524988412857056},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4003598690032959},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.38393157720565796},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3054109811782837},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23205867409706116},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11478826403617859},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08387884497642517}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6634411215782166},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6054967641830444},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5536148548126221},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.5435076355934143},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5184085369110107},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4903888702392578},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4489155411720276},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.41780680418014526},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.41524988412857056},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4003598690032959},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.38393157720565796},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3054109811782837},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23205867409706116},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11478826403617859},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08387884497642517},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6630809","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630809","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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":41,"referenced_works":["https://openalex.org/W1541960437","https://openalex.org/W1586402789","https://openalex.org/W1931877416","https://openalex.org/W1964970091","https://openalex.org/W1970244581","https://openalex.org/W1971625770","https://openalex.org/W1976144763","https://openalex.org/W1980758857","https://openalex.org/W1986014385","https://openalex.org/W1989125340","https://openalex.org/W2024139303","https://openalex.org/W2071538753","https://openalex.org/W2087387266","https://openalex.org/W2089662441","https://openalex.org/W2094687173","https://openalex.org/W2100512461","https://openalex.org/W2104154890","https://openalex.org/W2108565035","https://openalex.org/W2111308925","https://openalex.org/W2114384289","https://openalex.org/W2120682965","https://openalex.org/W2122494694","https://openalex.org/W2123432765","https://openalex.org/W2126105931","https://openalex.org/W2132400125","https://openalex.org/W2142641780","https://openalex.org/W2156013594","https://openalex.org/W2159786429","https://openalex.org/W2162991084","https://openalex.org/W2166302491","https://openalex.org/W2167224731","https://openalex.org/W2294416892","https://openalex.org/W2544041682","https://openalex.org/W2962957031","https://openalex.org/W4232280717","https://openalex.org/W4239729298","https://openalex.org/W4243987629","https://openalex.org/W6640174482","https://openalex.org/W6680724558","https://openalex.org/W6696759840","https://openalex.org/W6729118241"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1561646347","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W2346323633","https://openalex.org/W1971413691","https://openalex.org/W3043170174"],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1,56],"for":[2,28],"large":[3,42],"Unmanned":[4],"Aerial":[5,30],"Vehicles":[6,31],"(UAVs)":[7],"is":[8],"fairly":[9],"straight-forward,":[10],"as":[11,52],"expensive":[12],"sensors":[13],"and":[14,146],"monitoring":[15],"devices":[16],"can":[17,45,125],"be":[18],"employed.":[19],"In":[20,62],"contrast,":[21],"obstacle":[22],"avoidance":[23],"remains":[24],"a":[25,67,71,85,98,106,122,141],"challenging":[26],"task":[27],"Micro":[29],"(MAVs)":[32],"which":[33],"operate":[34],"at":[35,76],"low":[36,77],"altitude":[37,78],"in":[38,140,147],"cluttered":[39],"environments.":[40,82],"Unlike":[41],"vehicles,":[43],"MAVs":[44,131],"only":[46,84],"carry":[47],"very":[48],"light":[49],"sensors,":[50],"such":[51],"cameras,":[53],"making":[54],"autonomous":[55],"through":[57,79],"obstacles":[58],"much":[59],"more":[60,142],"challenging.":[61],"this":[63],"paper,":[64],"we":[65,93,113],"describe":[66],"system":[68,139],"that":[69,124],"navigates":[70],"small":[72,107],"quadrotor":[73],"helicopter":[74],"autonomously":[75],"natural":[80,149],"forest":[81,150],"Using":[83],"single":[86],"cheap":[87],"camera":[88],"to":[89,96,103,120],"perceive":[90],"the":[91,130,135],"environment,":[92],"are":[94],"able":[95],"maintain":[97],"constant":[99],"velocity":[100],"of":[101,109,137],"up":[102],"1.5m/s.":[104],"Given":[105],"set":[108],"human":[110],"pilot":[111],"demonstrations,":[112],"use":[114],"recent":[115],"state-of-the-art":[116],"imitation":[117],"learning":[118],"techniques":[119],"train":[121],"controller":[123],"avoid":[126],"trees":[127],"by":[128],"adapting":[129],"heading.":[132],"We":[133],"demonstrate":[134],"performance":[136],"our":[138],"controlled":[143],"environment":[144],"indoors,":[145],"real":[148],"environments":[151],"outdoors.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":32},{"year":2021,"cited_by_count":44},{"year":2020,"cited_by_count":53},{"year":2019,"cited_by_count":49},{"year":2018,"cited_by_count":55},{"year":2017,"cited_by_count":51},{"year":2016,"cited_by_count":25},{"year":2015,"cited_by_count":27},{"year":2014,"cited_by_count":15},{"year":2013,"cited_by_count":4}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}
