{"id":"https://openalex.org/W2989681079","doi":"https://doi.org/10.1109/icra40945.2020.9197542","title":"Design and Autonomous Stabilization of a Ballistically-Launched Multirotor","display_name":"Design and Autonomous Stabilization of a Ballistically-Launched Multirotor","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W2989681079","doi":"https://doi.org/10.1109/icra40945.2020.9197542","mag":"2989681079"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197542","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 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":"https://arxiv.org/pdf/1911.10269","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088134971","display_name":"Amanda Bouman","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Amanda Bouman","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006882510","display_name":"Paul Nadan","orcid":"https://orcid.org/0000-0001-7901-2132"},"institutions":[{"id":"https://openalex.org/I137428128","display_name":"Franklin W. Olin College of Engineering","ror":"https://ror.org/000zamq06","country_code":"US","type":"education","lineage":["https://openalex.org/I137428128"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Nadan","raw_affiliation_strings":["Olin College of Engineering, Needham, MA","Olin College of Engineering, Needham, MA 02492,"],"affiliations":[{"raw_affiliation_string":"Olin College of Engineering, Needham, MA","institution_ids":["https://openalex.org/I137428128"]},{"raw_affiliation_string":"Olin College of Engineering, Needham, MA 02492,","institution_ids":["https://openalex.org/I137428128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018765638","display_name":"Matthew Anderson","orcid":"https://orcid.org/0000-0001-8884-3448"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Anderson","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","California Institute of Tech.,Jet Propulsion Laboratory,,Pasadena,CA,,91109"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"California Institute of Tech.,Jet Propulsion Laboratory,,Pasadena,CA,,91109","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034649712","display_name":"Daniel Pastor","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Pastor","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083511626","display_name":"Jacob Izraelevitz","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacob Izraelevitz","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","California Institute of Tech.,Jet Propulsion Laboratory,,Pasadena,CA,,91109"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"California Institute of Tech.,Jet Propulsion Laboratory,,Pasadena,CA,,91109","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002930599","display_name":"Joel W. Burdick","orcid":"https://orcid.org/0000-0002-3091-540X"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joel Burdick","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076795191","display_name":"Brett Kennedy","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brett Kennedy","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","California Institute of Tech.,Jet Propulsion Laboratory,,Pasadena,CA,,91109"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"California Institute of Tech.,Jet Propulsion Laboratory,,Pasadena,CA,,91109","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5088134971"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":1.5722,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.91191793,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"8511","last_page":"8517"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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"}},"topics":[{"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9958999752998352,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9951000213623047,"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/multirotor","display_name":"Multirotor","score":0.984444797039032},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.7832518815994263},{"id":"https://openalex.org/keywords/launched","display_name":"Launched","score":0.6560357213020325},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.5707334876060486},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.558574378490448},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.5203670859336853},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.4523147940635681},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4032214283943176},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37899765372276306},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33912599086761475},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.15050408244132996},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.14116698503494263}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.984444797039032},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7832518815994263},{"id":"https://openalex.org/C122555611","wikidata":"https://www.wikidata.org/wiki/Q627421","display_name":"Launched","level":2,"score":0.6560357213020325},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.5707334876060486},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.558574378490448},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.5203670859336853},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.4523147940635681},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4032214283943176},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37899765372276306},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33912599086761475},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.15050408244132996},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.14116698503494263},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra40945.2020.9197542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197542","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1911.10269","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1911.10269","pdf_url":"https://arxiv.org/pdf/1911.10269","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":null,"raw_type":"text"},{"id":"mag:2989681079","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1911.10269","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:authors.library.caltech.edu:105505","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/105505/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"},{"id":"doi:10.48550/arxiv.1911.10269","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1911.10269","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1911.10269","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1911.10269","pdf_url":"https://arxiv.org/pdf/1911.10269","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":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1551535340","https://openalex.org/W1562603105","https://openalex.org/W2003392405","https://openalex.org/W2577462235","https://openalex.org/W2624960931","https://openalex.org/W2754177129","https://openalex.org/W2799403831","https://openalex.org/W2905560833","https://openalex.org/W2968479790","https://openalex.org/W2978094786","https://openalex.org/W2988686012"],"related_works":["https://openalex.org/W3091728512","https://openalex.org/W3146436939","https://openalex.org/W3171109400","https://openalex.org/W2492329249","https://openalex.org/W2061460385","https://openalex.org/W3098347841","https://openalex.org/W2193448910","https://openalex.org/W2997729880","https://openalex.org/W2322423","https://openalex.org/W346088156","https://openalex.org/W2909386959","https://openalex.org/W2072781714","https://openalex.org/W2121406979","https://openalex.org/W2945027170","https://openalex.org/W2087143287","https://openalex.org/W1987060297","https://openalex.org/W2572158513","https://openalex.org/W198636535","https://openalex.org/W2509603109","https://openalex.org/W1543990905"],"abstract_inverted_index":{"Aircraft":[0],"that":[1],"can":[2,26],"launch":[3,80],"ballistically":[4],"and":[5,21,56],"convert":[6],"to":[7,66,74],"autonomous,":[8],"free-flying":[9],"drones":[10],"have":[11],"applications":[12],"in":[13,81],"many":[14],"areas":[15],"such":[16],"as":[17],"emergency":[18],"response,":[19],"defense,":[20],"space":[22],"exploration,":[23],"where":[24],"they":[25],"gather":[27],"critical":[28],"situational":[29],"data":[30],"using":[31],"onboard":[32,51],"sensors.":[33],"This":[34],"paper":[35],"presents":[36],"a":[37,78,82],"ballistically-launched,":[38],"autonomously-stabilizing":[39],"multirotor":[40],"prototype":[41],"(SQUID":[42],"-":[43],"Streamlined":[44],"Quick":[45],"Unfolding":[46],"Investigation":[47],"Drone)":[48],"with":[49],"an":[50],"sensor":[52],"suite,":[53],"autonomy":[54],"pipeline,":[55],"passive":[57,65],"aerodynamic":[58],"stability.":[59],"We":[60],"demonstrate":[61],"autonomous":[62],"transition":[63],"from":[64],"vision-based,":[67],"active":[68],"stabilization,":[69],"confirming":[70],"the":[71],"multirotor's":[72],"ability":[73],"autonomously":[75],"stabilize":[76],"after":[77],"ballistic":[79],"GPS-denied":[83],"environment.":[84]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
