{"id":"https://openalex.org/W3206822272","doi":"https://doi.org/10.1109/icra48506.2021.9562076","title":"Freyja: A Full Multirotor System for Agile & Precise Outdoor Flights","display_name":"Freyja: A Full Multirotor System for Agile & Precise Outdoor Flights","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206822272","doi":"https://doi.org/10.1109/icra48506.2021.9562076","mag":"3206822272"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9562076","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562076","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5101862960","display_name":"Ajay Shankar","orcid":null},"institutions":[{"id":"https://openalex.org/I114395901","display_name":"University of Nebraska\u2013Lincoln","ror":"https://ror.org/043mer456","country_code":"US","type":"education","lineage":["https://openalex.org/I114395901"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ajay Shankar","raw_affiliation_strings":["Department of Computer Science & Engineering, University of Nebraska-Lincoln, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science & Engineering, University of Nebraska-Lincoln, USA","institution_ids":["https://openalex.org/I114395901"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025318877","display_name":"Sebastian Elbaum","orcid":"https://orcid.org/0000-0001-9592-1352"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Elbaum","raw_affiliation_strings":["Department of Computer Science, University of Virginia, Virginia, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Virginia, Virginia, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001694587","display_name":"Carrick Detweiler","orcid":"https://orcid.org/0000-0002-6369-4009"},"institutions":[{"id":"https://openalex.org/I114395901","display_name":"University of Nebraska\u2013Lincoln","ror":"https://ror.org/043mer456","country_code":"US","type":"education","lineage":["https://openalex.org/I114395901"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carrick Detweiler","raw_affiliation_strings":["Department of Computer Science & Engineering, University of Nebraska-Lincoln, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science & Engineering, University of Nebraska-Lincoln, USA","institution_ids":["https://openalex.org/I114395901"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101862960"],"corresponding_institution_ids":["https://openalex.org/I114395901"],"apc_list":null,"apc_paid":null,"fwci":0.4803,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.65480392,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"217","last_page":"223"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T12158","display_name":"Guidance and Control Systems","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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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/multirotor","display_name":"Multirotor","score":0.9866249561309814},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.75752192735672},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6696351170539856},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.635805606842041},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5347422957420349},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4986143112182617},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43095168471336365},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39443671703338623},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3494716286659241},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3387042284011841},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2652573585510254},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2166835069656372},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1516532003879547},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.12643849849700928},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.07717418670654297}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.9866249561309814},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.75752192735672},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6696351170539856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.635805606842041},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5347422957420349},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4986143112182617},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43095168471336365},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39443671703338623},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3494716286659241},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3387042284011841},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2652573585510254},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2166835069656372},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1516532003879547},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.12643849849700928},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.07717418670654297},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9562076","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562076","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1964342070","https://openalex.org/W1973734421","https://openalex.org/W2049492608","https://openalex.org/W2060794637","https://openalex.org/W2076697903","https://openalex.org/W2098711104","https://openalex.org/W2101206086","https://openalex.org/W2107664584","https://openalex.org/W2155238998","https://openalex.org/W2181845023","https://openalex.org/W2294257158","https://openalex.org/W2415769418","https://openalex.org/W2555341372","https://openalex.org/W2735140382","https://openalex.org/W2765525868","https://openalex.org/W2769498435","https://openalex.org/W2883702102","https://openalex.org/W2909386959","https://openalex.org/W2947148353","https://openalex.org/W2949088561","https://openalex.org/W3043830387","https://openalex.org/W3120474262","https://openalex.org/W3139777327","https://openalex.org/W6730280780"],"related_works":["https://openalex.org/W2892133789","https://openalex.org/W2992516105","https://openalex.org/W4300003481","https://openalex.org/W1973962063","https://openalex.org/W2967624126","https://openalex.org/W4319787269","https://openalex.org/W3003874676","https://openalex.org/W3206822272","https://openalex.org/W3210635025","https://openalex.org/W2564322318"],"abstract_inverted_index":{"Several":[0],"independent":[1],"approaches":[2],"exist":[3],"for":[4,36,53,72],"state":[5],"estimation":[6],"and":[7,18,33,41,56,61,68,88,137,148],"control":[8],"of":[9,101,114,124],"multirotor":[10,37],"unmanned":[11],"aerial":[12,140],"systems":[13],"(UASs)":[14],"that":[15,29,59],"address":[16],"specific":[17],"constrained":[19],"operational":[20,102],"conditions.":[21],"This":[22],"work":[23],"presents":[24],"a":[25,73,99,108,143],"complete":[26,77],"end-to-end":[27],"pipeline":[28],"enables":[30],"precise,":[31],"aggressive":[32],"agile":[34],"maneuvers":[35],"UASs":[38],"under":[39,110,152],"real":[40],"challenging":[42],"outdoor":[43],"environments.":[44],"We":[45,94,127],"leverage":[46],"state-of-the-art":[47],"optimal":[48],"methods":[49],"from":[50],"the":[51],"literature":[52],"trajectory":[54],"planning":[55,147],"control,":[57],"such":[58,104],"designing":[60],"executing":[62],"dynamic":[63,111],"paths":[64],"is":[65,85],"fast,":[66],"robust":[67],"easy":[69],"to":[70,91,116],"customize":[71],"particular":[74],"application.":[75],"The":[76],"pipeline,":[78],"built":[79],"entirely":[80],"using":[81],"commercially":[82],"available":[83],"components,":[84],"made":[86],"open-source":[87],"fully":[89],"documented":[90],"facilitate":[92],"adoption.":[93],"demonstrate":[95],"its":[96,130],"performance":[97],"in":[98,132,151],"variety":[100],"settings,":[103],"as":[105],"hovering":[106],"at":[107],"spot":[109],"wind":[112],"speeds":[113],"up":[115],"5\u2013":[117],"6m/s":[118],"(12\u201315mi/h)":[119],"while":[120],"staying":[121],"within":[122],"12cm":[123],"3D":[125],"error.":[126],"also":[128],"characterize":[129],"capabilities":[131],"flying":[133],"high-speed":[134],"trajectories":[135],"outdoors,":[136],"enabling":[138],"fast":[139],"docking":[141],"with":[142,146],"moving":[144],"target":[145],"interception":[149],"occurring":[150],"8s.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}