{"id":"https://openalex.org/W2809054452","doi":"https://doi.org/10.1109/icra.2018.8463214","title":"Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight","display_name":"Experiments in Fast, Autonomous, GPS-Denied Quadrotor Flight","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2809054452","doi":"https://doi.org/10.1109/icra.2018.8463214","mag":"2809054452"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8463214","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8463214","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5030457220","display_name":"Kartik Mohta","orcid":"https://orcid.org/0000-0002-0932-6475"},"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":"Kartik Mohta","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101995875","display_name":"Ke Sun","orcid":"https://orcid.org/0000-0002-0188-9361"},"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":"Ke Sun","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013971357","display_name":"Sikang Liu","orcid":"https://orcid.org/0000-0002-5646-9567"},"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":"Sikang Liu","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016153957","display_name":"Michael Watterson","orcid":"https://orcid.org/0000-0003-2639-3669"},"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":"Michael Watterson","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015659136","display_name":"Bernd Pfrommer","orcid":"https://orcid.org/0000-0002-3852-3240"},"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":"Bernd Pfrommer","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018263536","display_name":"James Svacha","orcid":"https://orcid.org/0000-0002-7222-2855"},"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":"James Svacha","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","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":false,"raw_author_name":"Yash Mulgaonkar","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036660535","display_name":"Camillo J. Taylor","orcid":"https://orcid.org/0000-0002-9332-5087"},"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":"Camillo Jose Taylor","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, 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, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5030457220"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":56.6224,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":{"value":0.99707697,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7832","last_page":"7839"},"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":0.9998000264167786,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/computer-science","display_name":"Computer science","score":0.6969294548034668},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6620743274688721},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6541789770126343},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6290369629859924},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6150011420249939},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5803843140602112},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5785683989524841},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.49100497364997864},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.4872955083847046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.479114294052124},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.47836560010910034},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4751603305339813},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4737197458744049},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.45670342445373535},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3329501748085022},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18660607933998108},{"id":"https://openalex.org/keywords/network-packet","display_name":"Network packet","score":0.08885818719863892}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6969294548034668},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6620743274688721},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6541789770126343},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6290369629859924},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6150011420249939},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5803843140602112},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5785683989524841},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.49100497364997864},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.4872955083847046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.479114294052124},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.47836560010910034},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4751603305339813},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4737197458744049},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.45670342445373535},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3329501748085022},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18660607933998108},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.08885818719863892},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8463214","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8463214","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.5,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1482844618","https://openalex.org/W1557353344","https://openalex.org/W1982318371","https://openalex.org/W2029995637","https://openalex.org/W2036613575","https://openalex.org/W2055904838","https://openalex.org/W2056298239","https://openalex.org/W2057799302","https://openalex.org/W2091790851","https://openalex.org/W2099987996","https://openalex.org/W2102303010","https://openalex.org/W2109656638","https://openalex.org/W2112510830","https://openalex.org/W2118223742","https://openalex.org/W2139554319","https://openalex.org/W2147536420","https://openalex.org/W2162991084","https://openalex.org/W2259165155","https://openalex.org/W2281550734","https://openalex.org/W2294713796","https://openalex.org/W2342437324","https://openalex.org/W2396584467","https://openalex.org/W2482392012","https://openalex.org/W2522546097","https://openalex.org/W2537584543","https://openalex.org/W2608018532","https://openalex.org/W2736926039","https://openalex.org/W2738970069","https://openalex.org/W2742196814","https://openalex.org/W2771926486","https://openalex.org/W2962987986","https://openalex.org/W2963497136","https://openalex.org/W3099629894","https://openalex.org/W4230766380","https://openalex.org/W4246614213","https://openalex.org/W6631059785","https://openalex.org/W6675080091","https://openalex.org/W6692297858","https://openalex.org/W6696887840"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W3170845014"],"abstract_inverted_index":{"High":[0],"speed":[1,119,134],"navigation":[2,67,120,138],"through":[3,83,132,139],"unknown":[4],"environments":[5,88],"is":[6,34,78,90],"a":[7,42,140],"challenging":[8],"problem":[9],"in":[10,30,65],"robotics.":[11],"It":[12],"requires":[13,59],"fast":[14],"computation":[15,52],"and":[16,86,89,108,137],"tight":[17],"integration":[18],"of":[19,44,51,96,105,122,129,142],"all":[20],"the":[21,24,28,31,49,66,111,117,127],"subsystems":[22],"on":[23],"robot":[25],"such":[26],"that":[27,53,115],"latency":[29],"perception-action":[32],"loop":[33],"as":[35,37],"small":[36],"possible.":[38],"Aerial":[39],"robots":[40],"add":[41],"limitation":[43],"payload":[45],"capacity,":[46],"which":[47,77],"restricts":[48],"amount":[50],"can":[54],"be":[55],"carried":[56],"onboard.":[57],"This":[58],"efficient":[60],"algorithms":[61],"for":[62],"each":[63],"component":[64,113],"system.":[68],"In":[69],"this":[70],"paper,":[71],"we":[72],"describe":[73],"our":[74,106,123,130],"quadrotor":[75],"system":[76,107,131],"able":[79,91],"to":[80,92],"smoothly":[81],"navigate":[82],"mixed":[84],"indoor":[85],"outdoor":[87],"fly":[93],"at":[94],"speeds":[95],"more":[97],"than":[98],"18":[99],"m/s.":[100],"We":[101,125],"provide":[102],"an":[103],"overview":[104],"details":[109],"about":[110],"specific":[112],"technologies":[114],"enable":[116],"high":[118,133],"capability":[121],"platform.":[124],"demonstrate":[126],"robustness":[128],"autonomous":[135],"flights":[136],"variety":[141],"obstacle":[143],"rich":[144],"environments.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
