{"id":"https://openalex.org/W2897097805","doi":"https://doi.org/10.1109/icra.2019.8793631","title":"Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing","display_name":"Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2897097805","doi":"https://doi.org/10.1109/icra.2019.8793631","mag":"2897097805"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793631","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793631","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003892206","display_name":"Elia Kaufmann","orcid":"https://orcid.org/0000-0001-6094-5901"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"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":true,"raw_author_name":"Elia Kaufmann","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich and ETH Zurich"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich and ETH Zurich","institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008591453","display_name":"Mathias Gehrig","orcid":"https://orcid.org/0000-0003-2223-4265"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"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":"Mathias Gehrig","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich and ETH Zurich"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich and ETH Zurich","institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043405996","display_name":"Philipp Foehn","orcid":"https://orcid.org/0000-0001-9585-1278"},"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"]},{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Philipp Foehn","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich and ETH Zurich"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich and ETH Zurich","institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076203786","display_name":"Ren\u00e9 Ranftl","orcid":"https://orcid.org/0000-0003-4158-2759"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rene Ranftl","raw_affiliation_strings":["Intelligent Systems Lab, Intel"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Lab, Intel","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090113830","display_name":"Alexey Dosovitskiy","orcid":"https://orcid.org/0000-0003-1851-0976"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alexey Dosovitskiy","raw_affiliation_strings":["Intelligent Systems Lab, Intel"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Lab, Intel","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006181255","display_name":"Vladlen Koltun","orcid":"https://orcid.org/0000-0003-0858-0970"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vladlen Koltun","raw_affiliation_strings":["Intelligent Systems Lab, Intel"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Lab, Intel","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"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"]},{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich and ETH Zurich"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich and ETH Zurich","institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5003892206"],"corresponding_institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":14.7335,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.98182685,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"690","last_page":"696"},"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":0.9995999932289124,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/drone","display_name":"Drone","score":0.8913869857788086},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6500785946846008},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.6254050731658936},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5249595642089844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4892094135284424},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.4826803505420685},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.4670362174510956},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.46185198426246643},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4285503029823303},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.4183316230773926},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3671087622642517}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8913869857788086},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6500785946846008},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.6254050731658936},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5249595642089844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4892094135284424},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.4826803505420685},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.4670362174510956},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.46185198426246643},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4285503029823303},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.4183316230773926},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3671087622642517},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/icra.2019.8793631","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793631","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.zora.uzh.ch:197736","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Kaufmann, Elia; Gehrig, Mathias; Foehn, Philipp; Ranftl, Rene; Dosovitskiy, Alexey; Koltun, Vladlen; Scaramuzza, Davide  (2019). Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing.  In: 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 20 June 2019 - 24 June 2019. IEEE, 690-696.","raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:arXiv.org:1810.06224","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1810.06224","pdf_url":"https://arxiv.org/pdf/1810.06224","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},{"id":"mag:2897097805","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1810.06224.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:infoscience.epfl.ch:271847","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/271847","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},{"id":"doi:10.48550/arxiv.1810.06224","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1810.06224","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"article-journal"},{"id":"doi:10.5167/uzh-197736","is_oa":true,"landing_page_url":"https://doi.org/10.5167/uzh-197736","pdf_url":null,"source":{"id":"https://openalex.org/S7407051291","display_name":"Universit\u00e4t Z\u00fcrich, ZORA","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":""}],"best_oa_location":{"id":"pmh:oai:www.zora.uzh.ch:197736","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Kaufmann, Elia; Gehrig, Mathias; Foehn, Philipp; Ranftl, Rene; Dosovitskiy, Alexey; Koltun, Vladlen; Scaramuzza, Davide  (2019). Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing.  In: 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 20 June 2019 - 24 June 2019. IEEE, 690-696.","raw_type":"Conference or Workshop Item"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1560021816","https://openalex.org/W2091790851","https://openalex.org/W2162991084","https://openalex.org/W2167340365","https://openalex.org/W2171666055","https://openalex.org/W2181845023","https://openalex.org/W2216550548","https://openalex.org/W2218761850","https://openalex.org/W2296673577","https://openalex.org/W2411412724","https://openalex.org/W2465948386","https://openalex.org/W2535547924","https://openalex.org/W2557430988","https://openalex.org/W2564632156","https://openalex.org/W2599032451","https://openalex.org/W2746584771","https://openalex.org/W2770176163","https://openalex.org/W2772982620","https://openalex.org/W2788239209","https://openalex.org/W2794268423","https://openalex.org/W2891998247","https://openalex.org/W2949490711","https://openalex.org/W2962865553","https://openalex.org/W2963689432","https://openalex.org/W3102327032","https://openalex.org/W4246614213","https://openalex.org/W6684393244","https://openalex.org/W6688685930","https://openalex.org/W6746717651","https://openalex.org/W6749410269","https://openalex.org/W6752941136"],"related_works":["https://openalex.org/W2967464230","https://openalex.org/W3032221564","https://openalex.org/W2981589598","https://openalex.org/W2982095652","https://openalex.org/W3097771957","https://openalex.org/W3047295909","https://openalex.org/W2905052477","https://openalex.org/W3205543860","https://openalex.org/W2889923199","https://openalex.org/W2886996772","https://openalex.org/W2890755534","https://openalex.org/W2929174622","https://openalex.org/W2106789842","https://openalex.org/W2145670400","https://openalex.org/W3120792515","https://openalex.org/W2751330670","https://openalex.org/W2911926163","https://openalex.org/W3172285804","https://openalex.org/W3010795227","https://openalex.org/W2989686522"],"abstract_inverted_index":{"Autonomous":[0,19,221],"micro":[1],"aerial":[2],"vehicles":[3],"still":[4],"struggle":[5],"with":[6,104,132,158],"fast":[7],"and":[8,15,185,201,206],"agile":[9,200],"maneuvers,":[10],"dynamic":[11],"environments,":[12],"imperfect":[13],"sensing,":[14],"state":[16],"estimation":[17],"drift.":[18],"drone":[20],"racing":[21],"brings":[22],"these":[23],"challenges":[24],"to":[25,144,156,183,216],"the":[26,55,66,100,125,128,154,174,189,196,218,226],"fore.":[27],"Human":[28],"pilots":[29],"can":[30,79,109],"fly":[31,80],"a":[32,37,50,58,81,85,90,114,121,230],"previously":[33,86],"unseen":[34,87],"track":[35,67,83,102],"after":[36],"handful":[38],"of":[39,54,61,68,127,149,170,232],"practice":[40],"runs.":[41],"In":[42],"contrast,":[43],"state-of-the-art":[44],"autonomous":[45],"navigation":[46],"algorithms":[47],"require":[48],"either":[49],"precise":[51,91],"metric":[52],"map":[53,92],"environment":[56,88],"or":[57,93,168],"large":[59],"amount":[60],"training":[62],"data":[63,95],"collected":[64],"in":[65,84,195],"interest.":[69],"To":[70],"bridge":[71],"this":[72],"gap,":[73],"we":[74,178],"propose":[75],"an":[76,140],"approach":[77,98,213],"that":[78,162],"new":[82],"without":[89],"expensive":[94],"collection.":[96],"Our":[97],"represents":[99],"global":[101],"layout":[103],"coarse":[105],"gate":[106,150,176],"locations,":[107],"which":[108],"be":[110],"easily":[111],"estimated":[112,175],"from":[113,165],"single":[115],"demonstration":[116],"flight.":[117],"At":[118],"test":[119],"time,":[120],"convolutional":[122],"network":[123],"predicts":[124],"poses":[126],"closest":[129],"gates":[130],"along":[131],"their":[133],"uncertainty.":[134],"These":[135],"predictions":[136],"are":[137],"incorporated":[138],"by":[139,229],"extended":[141],"Kalman":[142],"filter":[143],"maintain":[145],"optimal":[146],"maximum-a-posteriori":[147],"estimates":[148,161],"locations.":[151],"This":[152],"allows":[153],"framework":[155],"cope":[157],"misleading":[159],"high-variance":[160],"could":[163],"stem":[164],"poor":[166],"observability":[167],"lack":[169],"visible":[171],"gates.":[172],"Given":[173],"poses,":[177],"use":[179],"model":[180],"predictive":[181],"control":[182],"quickly":[184],"accurately":[186],"navigate":[187],"through":[188,204],"track.":[190],"We":[191],"conduct":[192],"extensive":[193],"experiments":[194],"physical":[197],"world,":[198],"demonstrating":[199],"robust":[202],"flight":[203],"complex":[205],"diverse":[207],"previously-unseen":[208],"race":[209],"tracks.":[210],"The":[211],"presented":[212],"was":[214],"used":[215],"win":[217],"IROS":[219],"2018":[220],"Drone":[222],"Race":[223],"Competition,":[224],"outracing":[225],"second-placing":[227],"team":[228],"factor":[231],"two.":[233]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-03T22:45:19.894376","created_date":"2025-10-10T00:00:00"}