{"id":"https://openalex.org/W2161441461","doi":"https://doi.org/10.1109/icra.2013.6631130","title":"Path planning for motion dependent state estimation on micro aerial vehicles","display_name":"Path planning for motion dependent state estimation on micro aerial vehicles","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2161441461","doi":"https://doi.org/10.1109/icra.2013.6631130","mag":"2161441461"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631130","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/en/publications/aaa194ca-4a0b-4c7b-a9f2-dbee6742d128","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055860801","display_name":"Markus Achtelik","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Markus W. Achtelik","raw_affiliation_strings":["Autonomous Systems Laboratory, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075449650","display_name":"Stephan Wei\u00df","orcid":"https://orcid.org/0000-0001-6906-5409"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephan Weiss","raw_affiliation_strings":["Computer Vision Group, NASA Jet Propulsion Laboratory, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision Group, NASA Jet Propulsion Laboratory, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055582765","display_name":"Margarita Chli","orcid":"https://orcid.org/0000-0001-5611-7492"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Margarita Chli","raw_affiliation_strings":["Autonomous Systems Laboratory, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Laboratory, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":118.8203,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.99856639,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3926","last_page":"3932"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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":0.9998000264167786,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994000196456909,"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/motion-planning","display_name":"Motion planning","score":0.7976959943771362},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.7567959427833557},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6664202213287354},{"id":"https://openalex.org/keywords/unobservable","display_name":"Unobservable","score":0.6392842531204224},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5788213610649109},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5087364315986633},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5053721070289612},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4788125157356262},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.411832332611084},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38086241483688354},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1431109607219696}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7976959943771362},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.7567959427833557},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6664202213287354},{"id":"https://openalex.org/C2780695315","wikidata":"https://www.wikidata.org/wiki/Q3799040","display_name":"Unobservable","level":2,"score":0.6392842531204224},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5788213610649109},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5087364315986633},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5053721070289612},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4788125157356262},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.411832332611084},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38086241483688354},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1431109607219696},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/icra.2013.6631130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631130","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.370.9865","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.370.9865","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://margaritachli.com/papers/ICRA2013paper.pdf","raw_type":"text"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/aaa194ca-4a0b-4c7b-a9f2-dbee6742d128","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/aaa194ca-4a0b-4c7b-a9f2-dbee6742d128","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Achtelik, M W, Weiss, S, Chli, M & Siegwart, R 2013, Path Planning for Motion Dependent State Estimation on Micro Aerial Vehicles. in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)., 7, pp. 3926 - 3932. https://doi.org/10.1109/ICRA.2013.6631130","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/aaa194ca-4a0b-4c7b-a9f2-dbee6742d128","is_oa":false,"landing_page_url":"http://hdl.handle.net/20.500.11820/aaa194ca-4a0b-4c7b-a9f2-dbee6742d128","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","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":"","raw_type":""},{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/79490","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/79490","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Robotics and Automation (ICRA), 2013 : 6 - 10 May 2013, Karlsruhe, Germany","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.3929/ethz-a-010026413","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-a-010026413","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","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":"Other"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/aaa194ca-4a0b-4c7b-a9f2-dbee6742d128","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/aaa194ca-4a0b-4c7b-a9f2-dbee6742d128","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Achtelik, M W, Weiss, S, Chli, M & Siegwart, R 2013, Path Planning for Motion Dependent State Estimation on Micro Aerial Vehicles. in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)., 7, pp. 3926 - 3932. https://doi.org/10.1109/ICRA.2013.6631130","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W843488890","https://openalex.org/W1777783943","https://openalex.org/W1914059017","https://openalex.org/W1965555277","https://openalex.org/W1979843398","https://openalex.org/W2053833381","https://openalex.org/W2098860918","https://openalex.org/W2099987996","https://openalex.org/W2103052138","https://openalex.org/W2106237563","https://openalex.org/W2120109662","https://openalex.org/W2132453268","https://openalex.org/W2135492382","https://openalex.org/W2140924050","https://openalex.org/W2140998418","https://openalex.org/W2147536420","https://openalex.org/W2159786429","https://openalex.org/W2162991084","https://openalex.org/W2949623849","https://openalex.org/W3144404684","https://openalex.org/W6638062875","https://openalex.org/W6675657953","https://openalex.org/W6679783619"],"related_works":["https://openalex.org/W2149686805","https://openalex.org/W4294689033","https://openalex.org/W4226462367","https://openalex.org/W1978158123","https://openalex.org/W2967463586","https://openalex.org/W2082642870","https://openalex.org/W2378270039","https://openalex.org/W4246201196","https://openalex.org/W1904098742","https://openalex.org/W3158921809"],"abstract_inverted_index":{"With":[0,57],"navigation":[1,63,97,196,203],"algorithms":[2],"reaching":[3],"a":[4,34,37,50,81,100,130,165,168],"certain":[5,118],"maturity":[6],"in":[7,42,68,106,120,183],"the":[8,13,28,40,43,61,66,104,107,161,176,191,200],"field":[9],"of":[10,60,88,175,193,199],"mobile":[11],"robots,":[12],"community":[14],"now":[15],"focuses":[16],"on":[17],"more":[18,91],"advanced":[19],"tasks":[20],"like":[21],"path":[22,35,52,101,151,166],"planning":[23],"towards":[24],"increased":[25],"autonomy.":[26],"While":[27],"goal":[29,169],"is":[30,53,113],"to":[31,36,54,74,80,115,122,167,208],"efficiently":[32],"compute":[33],"target":[38],"destination,":[39],"uncertainty":[41,67,105],"robot's":[44,177],"perception":[45],"cannot":[46],"be":[47,55],"ignored":[48],"if":[49],"realistic":[51],"computed.":[56],"most":[58,201],"state":[59],"art":[62],"systems":[64,116],"providing":[65],"motion":[69,149,182],"estimation,":[70],"here":[71],"we":[72,139],"propose":[73,140],"exploit":[75],"this":[76,137,147],"information.":[77],"This":[78],"leads":[79],"system":[82],"that":[83,102],"can":[84,94],"plan":[85],"safe":[86],"avoidance":[87],"obstacles,":[89],"and":[90],"importantly,":[92],"it":[93],"actively":[95],"aid":[96],"by":[98,153],"choosing":[99],"minimizes":[103],"monitored":[108],"states.":[109],"Our":[110],"proposed":[111,162],"approach":[112,142,163],"applicable":[114],"requiring":[117,205],"excitations":[119],"order":[121],"render":[123],"all":[124],"their":[125],"states":[126],"observable,":[127],"such":[128],"as":[129,197],"MAV":[131],"with":[132],"visual-inertial":[133],"based":[134],"localization.":[135],"In":[136],"work,":[138],"an":[141],"which":[143,170],"takes":[144],"into":[145],"account":[146],"necessary":[148],"during":[150],"planning:":[152],"employing":[154],"Rapidly":[155],"exploring":[156],"Random":[157],"Belief":[158],"Trees":[159],"(RRBT),":[160],"chooses":[164],"allows":[171],"for":[172],"best":[173],"estimation":[174],"states,":[178],"while":[179],"inherently":[180],"avoiding":[181],"unobservable":[184],"modes.":[185],"We":[186],"discuss":[187],"our":[188],"findings":[189],"within":[190],"scenario":[192],"vision-based":[194],"aerial":[195],"one":[198],"challenging":[202],"problem,":[204],"sufficient":[206],"excitation":[207],"reach":[209],"full":[210],"observability.":[211]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
