{"id":"https://openalex.org/W2089801374","doi":"https://doi.org/10.1109/icra.2014.6907149","title":"Toward image based visual servoing for aerial grasping and perching","display_name":"Toward image based visual servoing for aerial grasping and perching","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2089801374","doi":"https://doi.org/10.1109/icra.2014.6907149","mag":"2089801374"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907149","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907149","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5089232879","display_name":"Justin Thomas","orcid":"https://orcid.org/0000-0002-4253-417X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Justin Thomas","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA","#N#               * University of Pennsylvania"],"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"#N#               * University of Pennsylvania","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077485450","display_name":"Giuseppe Loianno","orcid":"https://orcid.org/0000-0002-3263-5401"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Giuseppe Loianno","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA","[GRASP Lab., University of Pennsylvania, Philadelphia, PA, USA]"],"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"[GRASP Lab., University of Pennsylvania, Philadelphia, PA, USA]","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054075105","display_name":"Koushil Sreenath","orcid":"https://orcid.org/0000-0002-5346-3637"},"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":"Koushil Sreenath","raw_affiliation_strings":["Depts. of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Depts. of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA","#N#               * University of Pennsylvania"],"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"#N#               * University of Pennsylvania","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5089232879"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":7.3162,"has_fulltext":false,"cited_by_count":136,"citation_normalized_percentile":{"value":0.97915427,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2113","last_page":"2118"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","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/T10531","display_name":"Advanced Vision and Imaging","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":0.9994999766349792,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/visual-servoing","display_name":"Visual servoing","score":0.9474453926086426},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.745011031627655},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.727487325668335},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6435502767562866},{"id":"https://openalex.org/keywords/image-plane","display_name":"Image plane","score":0.5546761155128479},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4007216691970825}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9474453926086426},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.745011031627655},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.727487325668335},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6435502767562866},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.5546761155128479},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4007216691970825}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907149","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907149","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W297039922","https://openalex.org/W614015540","https://openalex.org/W1502151758","https://openalex.org/W1549290103","https://openalex.org/W1832761836","https://openalex.org/W1984190176","https://openalex.org/W1995067233","https://openalex.org/W1998314631","https://openalex.org/W2015367954","https://openalex.org/W2044894195","https://openalex.org/W2058050858","https://openalex.org/W2058475458","https://openalex.org/W2065576483","https://openalex.org/W2082991751","https://openalex.org/W2091536974","https://openalex.org/W2108598000","https://openalex.org/W2111691855","https://openalex.org/W2121324469","https://openalex.org/W2122147410","https://openalex.org/W2132453268","https://openalex.org/W2161357383","https://openalex.org/W2161505441","https://openalex.org/W2162991084","https://openalex.org/W2167501464","https://openalex.org/W2552885458","https://openalex.org/W4248304976","https://openalex.org/W6630103998","https://openalex.org/W6654185707"],"related_works":["https://openalex.org/W2107326529","https://openalex.org/W4293869118","https://openalex.org/W2118183560","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,48,53,88,99,114,125],"dynamics,":[4],"control,":[5,66],"planning,":[6],"and":[7,33,56,60,65,141,150],"visual":[8,121,133],"servoing":[9,134],"for":[10,62,109],"micro":[11],"aerial":[12,17],"vehicles":[13],"to":[14,38,68,131],"perform":[15],"high-speed":[16,35],"grasping":[18,43],"tasks.":[19],"We":[20],"draw":[21],"inspiration":[22],"from":[23],"agile,":[24],"fast-moving":[25],"birds,":[26],"such":[27],"as":[28,103],"raptors,":[29],"that":[30,92,123,136],"detect,":[31],"locate,":[32],"execute":[34],"swoop":[36],"maneuvers":[37,44],"capture":[39],"prey.":[40],"Since":[41],"these":[42],"are":[45],"predominantly":[46],"in":[47,72,87,113],"sagittal":[49],"plane,":[50],"we":[51,81],"consider":[52],"planar":[54],"system":[55,97],"present":[57,142],"mathematical":[58],"models":[59],"algorithms":[61],"motion":[63],"planning":[64],"required":[67],"incorporate":[69],"similar":[70],"capabilities":[71],"quadrotors":[73],"equipped":[74],"with":[75,98],"a":[76,83,95,107,119],"monocular":[77],"camera.":[78],"In":[79],"particular,":[80],"develop":[82,118],"dynamical":[84],"model":[85],"directly":[86,112],"image":[89,100,115],"space,":[90,117],"show":[91],"this":[93],"is":[94],"differentially-flat":[96],"features":[101],"serving":[102],"flat":[104],"outputs,":[105],"outline":[106],"method":[108],"generating":[110],"trajectories":[111],"feature":[116],"geometric":[120],"controller":[122],"considers":[124],"second":[126],"order":[127,139],"dynamics":[128],"(in":[129],"contrast":[130],"most":[132],"controllers":[135],"assume":[137],"first":[138],"dynamics),":[140],"validation":[143],"of":[144],"our":[145],"methods":[146],"through":[147],"both":[148],"simulations":[149],"experiments.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}