{"id":"https://openalex.org/W1519514846","doi":"https://doi.org/10.1109/icra.2015.7139491","title":"Design of small, safe and robust quadrotor swarms","display_name":"Design of small, safe and robust quadrotor swarms","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1519514846","doi":"https://doi.org/10.1109/icra.2015.7139491","mag":"1519514846"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139491","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139491","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5087249519","display_name":"Yash Mulgaonkar","orcid":"https://orcid.org/0000-0002-5330-1208"},"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":"Yash Mulgaonkar","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","[GRASP Laboratory, University of Pennsylvania, Philadelphia, 19104, USA]"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"[GRASP Laboratory, University of Pennsylvania, Philadelphia, 19104, USA]","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025201471","display_name":"Gareth Cross","orcid":null},"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":"Gareth Cross","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","[GRASP Laboratory, University of Pennsylvania, Philadelphia, 19104, USA]"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"[GRASP Laboratory, University of Pennsylvania, Philadelphia, 19104, USA]","institution_ids":["https://openalex.org/I79576946"]}]},{"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 Laboratory, University of Pennsylvania, Philadelphia, PA, USA","[GRASP Laboratory, University of Pennsylvania, Philadelphia, 19104, USA]"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"[GRASP Laboratory, University of Pennsylvania, Philadelphia, 19104, USA]","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5087249519"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":6.3236,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.96701321,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2208","last_page":"2215"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9991000294685364,"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/robustness","display_name":"Robustness (evolution)","score":0.798922061920166},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7043200135231018},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.6266722679138184},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.545051097869873},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4934333860874176},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4719007909297943},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46066585183143616},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.4523587226867676},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.405911386013031},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24599507451057434},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23479795455932617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13227146863937378}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.798922061920166},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7043200135231018},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.6266722679138184},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.545051097869873},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4934333860874176},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4719007909297943},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46066585183143616},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.4523587226867676},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.405911386013031},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24599507451057434},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23479795455932617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13227146863937378},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139491","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139491","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W194336506","https://openalex.org/W1496729756","https://openalex.org/W1984088642","https://openalex.org/W2026260559","https://openalex.org/W2027303978","https://openalex.org/W2035155402","https://openalex.org/W2052202522","https://openalex.org/W2060781099","https://openalex.org/W2065894019","https://openalex.org/W2117730228","https://openalex.org/W2147928602","https://openalex.org/W2148182166","https://openalex.org/W2464937933","https://openalex.org/W6607950339","https://openalex.org/W6719748853"],"related_works":["https://openalex.org/W2953205341","https://openalex.org/W235065745","https://openalex.org/W2029935773","https://openalex.org/W2787754950","https://openalex.org/W1572215850","https://openalex.org/W1985775355","https://openalex.org/W2352115286","https://openalex.org/W2084793300","https://openalex.org/W2903025760","https://openalex.org/W4289147272"],"abstract_inverted_index":{"Scaling":[0],"down":[1],"the":[2,43,63,66,70,100,103],"size":[3],"and":[4,14,92,106,130,133],"mass":[5,58],"of":[6,45,59,65,89,102],"micro":[7],"aerial":[8],"vehicles":[9],"(MAVs)":[10],"increases":[11],"their":[12,15],"agility":[13],"ability":[16],"to":[17,38,54,68],"operate":[18],"in":[19,33,87],"tight":[20],"formations.":[21],"In":[22],"addition,":[23],"smaller":[24],"robots":[25],"are":[26],"safer":[27],"and,":[28],"as":[29,109,111],"we":[30],"will":[31],"show":[32],"this":[34],"paper,":[35],"more":[36],"robust":[37],"collisions.":[39,97],"This":[40],"paper":[41],"addresses":[42],"development":[44],"a":[46,57,75],"pico":[47],"quadrotor":[48],"measuring":[49],"11":[50],"cm":[51],"from":[52,84,119,126],"tip":[53],"tip,":[55],"with":[56,74,117,128],"25g.":[60],"To":[61],"increase":[62],"robustness":[64],"robot":[67],"collisions,":[69],"vehicle":[71],"is":[72],"equipped":[73],"2":[76],"gram":[77],"carbon":[78],"fiber":[79],"cage":[80],"that":[81],"protects":[82],"it":[83],"impact":[85],"velocities":[86],"excess":[88],"4":[90],"m/s":[91],"also":[93],"permits":[94],"recovery":[95,125],"after":[96],"We":[98],"present":[99],"design":[101],"electrical,":[104],"mechanical":[105],"computational":[107],"elements,":[108],"well":[110],"experimental":[112],"results":[113],"demonstrating":[114],"trajectory":[115],"following":[116],"feedback":[118],"an":[120],"external":[121],"motion":[122],"camera":[123],"system,":[124],"collisions":[127],"walls":[129],"other":[131],"robots,":[132],"formation":[134],"flight.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}