{"id":"https://openalex.org/W2968577884","doi":"https://doi.org/10.1109/icra.2019.8793682","title":"Magnetic-Field-Inspired Navigation for Quadcopter Robot in Unknown Environments","display_name":"Magnetic-Field-Inspired Navigation for Quadcopter Robot in Unknown Environments","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968577884","doi":"https://doi.org/10.1109/icra.2019.8793682","mag":"2968577884"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793682","is_oa":false,"landing_page_url":"http://doi.org/10.1109/icra.2019.8793682","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/70112/2/Ypsilanti%20Magnetic-field-inspired%202019%20Accepted.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043069972","display_name":"Ahmad Ataka","orcid":"https://orcid.org/0000-0003-3082-5778"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["GB","US"],"is_corresponding":true,"raw_author_name":"A. Ataka","raw_affiliation_strings":["The Centre for Robotics Research (CoRe), Department of Informatics, Kings College London, London WC2R 2LS, United Kingdom","@ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, Mile End Road, London E1 4NS, United Kingdom"],"affiliations":[{"raw_affiliation_string":"The Centre for Robotics Research (CoRe), Department of Informatics, Kings College London, London WC2R 2LS, United Kingdom","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"@ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, Mile End Road, London E1 4NS, United Kingdom","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059514204","display_name":"Hak\u2010Keung Lam","orcid":"https://orcid.org/0000-0002-6572-7265"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"H.K. Lam","raw_affiliation_strings":["The Centre for Robotics Research (CoRe), Department of Informatics, Kings College London, London WC2R 2LS, United Kingdom","@ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, Mile End Road, London E1 4NS, United Kingdom"],"affiliations":[{"raw_affiliation_string":"The Centre for Robotics Research (CoRe), Department of Informatics, Kings College London, London WC2R 2LS, United Kingdom","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"@ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, Mile End Road, London E1 4NS, United Kingdom","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"K. Althoefer","raw_affiliation_strings":["@ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, Mile End Road, London E1 4NS, United Kingdom","The Centre for Robotics Research (CoRe), Department of Informatics, Kings College London, London WC2R 2LS, United Kingdom"],"affiliations":[{"raw_affiliation_string":"@ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, Mile End Road, London E1 4NS, United Kingdom","institution_ids":["https://openalex.org/I166337079"]},{"raw_affiliation_string":"The Centre for Robotics Research (CoRe), Department of Informatics, Kings College London, London WC2R 2LS, United Kingdom","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5043069972"],"corresponding_institution_ids":["https://openalex.org/I166337079","https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":0.1022,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.43788325,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"73","issue":null,"first_page":"6165","last_page":"6171"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9932000041007996,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.9614143371582031},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7523300647735596},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6169218420982361},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.596596360206604},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5327135920524597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4933904707431793},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.4806146025657654},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.46535688638687134},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25147390365600586},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12961357831954956},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12163832783699036}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.9614143371582031},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7523300647735596},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6169218420982361},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.596596360206604},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5327135920524597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4933904707431793},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.4806146025657654},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.46535688638687134},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25147390365600586},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12961357831954956},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12163832783699036},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2019.8793682","is_oa":false,"landing_page_url":"http://doi.org/10.1109/icra.2019.8793682","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:qmro.qmul.ac.uk:123456789/70112","is_oa":true,"landing_page_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/70112","pdf_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/70112/2/Ypsilanti%20Magnetic-field-inspired%202019%20Accepted.pdf","source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/70112","is_oa":true,"landing_page_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/70112","pdf_url":"https://qmro.qmul.ac.uk/xmlui/bitstream/123456789/70112/2/Ypsilanti%20Magnetic-field-inspired%202019%20Accepted.pdf","source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3739141303","display_name":null,"funder_award_id":"EP/R02572X","funder_id":"https://openalex.org/F4320330083","funder_display_name":"National Centre for Nuclear Robotics"},{"id":"https://openalex.org/G3761795683","display_name":null,"funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320330083","funder_display_name":"National Centre for Nuclear Robotics"},{"id":"https://openalex.org/G528393513","display_name":"National Centre for Nuclear Robotics (NCNR)","funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6552220756","display_name":null,"funder_award_id":"EP/R02572X","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320320285","display_name":"King's College London","ror":"https://ror.org/0220mzb33"},{"id":"https://openalex.org/F4320330083","display_name":"National Centre for Nuclear Robotics","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2968577884.pdf"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1521528529","https://openalex.org/W1993156509","https://openalex.org/W2040938785","https://openalex.org/W2069647917","https://openalex.org/W2089724372","https://openalex.org/W2099926409","https://openalex.org/W2104332709","https://openalex.org/W2108770514","https://openalex.org/W2165024080","https://openalex.org/W2177274602","https://openalex.org/W2291623206","https://openalex.org/W2461937780","https://openalex.org/W2570469968","https://openalex.org/W2582119245","https://openalex.org/W2588969983","https://openalex.org/W2736229298","https://openalex.org/W2782715402","https://openalex.org/W2801643600","https://openalex.org/W2875890672","https://openalex.org/W2901136733","https://openalex.org/W2908521626","https://openalex.org/W2913770394","https://openalex.org/W3089276580","https://openalex.org/W3103278230","https://openalex.org/W3124420883","https://openalex.org/W4252031641","https://openalex.org/W6756486208","https://openalex.org/W6757994011"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2526240748","https://openalex.org/W2966028239","https://openalex.org/W2264340699","https://openalex.org/W2909947097","https://openalex.org/W2587373415","https://openalex.org/W2890534329","https://openalex.org/W4293734307","https://openalex.org/W2905865448"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,64,91],"magnetic-field-inspired":[4],"robot":[5],"navigation":[6,43],"is":[7,54],"used":[8],"to":[9,56],"navigate":[10],"an":[11],"under-actuated":[12],"quad-copter":[13],"towards":[14],"the":[15,26,38,50,72,88,99,103,110,114],"desired":[16],"position":[17],"amidst":[18],"previously-unknown":[19],"arbitrary-shaped":[20],"convex":[21],"obstacles.":[22],"Taking":[23],"inspiration":[24],"from":[25],"phenomena":[27],"of":[28,71,87,94,102,113],"magnetic":[29],"field":[30],"interaction":[31],"with":[32],"charged":[33],"particles":[34],"observed":[35],"in":[36,49,81,90,98],"nature,":[37],"algorithm":[39,89],"outperforms":[40],"previous":[41],"reactive":[42],"algorithms":[44],"for":[45],"flying":[46],"robots":[47],"found":[48],"literature":[51],"as":[52],"it":[53],"able":[55],"reactively":[57],"generate":[58],"motion":[59],"commands":[60],"relying":[61],"only":[62],"on":[63],"local":[65,82],"sensory":[66],"information":[67],"without":[68,78],"prior":[69],"knowledge":[70],"obstacles'":[73],"shape":[74],"or":[75],"location":[76],"and":[77,97],"getting":[79],"trapped":[80],"minima":[83],"configurations.":[84],"The":[85],"application":[86],"dynamic":[92],"model":[93,101],"quadcopter":[95],"system":[96],"realistic":[100],"commercial":[104],"AscTec":[105],"Pelican":[106],"micro-aerial":[107],"vehicle":[108],"confirm":[109],"superior":[111],"performance":[112],"algorithm.":[115]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}