{"id":"https://openalex.org/W4383108868","doi":"https://doi.org/10.1109/icra48891.2023.10160454","title":"FlowDrone: Wind Estimation and Gust Rejection on UAVs Using Fast-Response Hot-Wire Flow Sensors","display_name":"FlowDrone: Wind Estimation and Gust Rejection on UAVs Using Fast-Response Hot-Wire Flow Sensors","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108868","doi":"https://doi.org/10.1109/icra48891.2023.10160454"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160454","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160454","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5043947666","display_name":"Nathaniel Simon","orcid":"https://orcid.org/0000-0003-2326-3631"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nathaniel Simon","raw_affiliation_strings":["Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,NJ,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,NJ,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000576583","display_name":"Allen Z. Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allen Z. Ren","raw_affiliation_strings":["Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,NJ,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,NJ,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045917322","display_name":"Alexander Piqu\u00e9","orcid":"https://orcid.org/0000-0002-3046-2551"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Piqu\u00e9","raw_affiliation_strings":["Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,NJ,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,NJ,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102833930","display_name":"David Snyder","orcid":"https://orcid.org/0000-0002-0964-7738"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Snyder","raw_affiliation_strings":["Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,NJ,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,NJ,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020835170","display_name":"Daphne Barretto","orcid":null},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daphne Barretto","raw_affiliation_strings":["Princeton University,Department of Computer Science,Princeton,NJ,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Computer Science,Princeton,NJ,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028198279","display_name":"Marcus Hultmark","orcid":"https://orcid.org/0000-0002-5070-3711"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marcus Hultmark","raw_affiliation_strings":["Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,NJ,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,NJ,08544","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013839863","display_name":"Anirudha Majumdar","orcid":null},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anirudha Majumdar","raw_affiliation_strings":["Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,NJ,08544"],"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,NJ,08544","institution_ids":["https://openalex.org/I20089843"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5043947666"],"corresponding_institution_ids":["https://openalex.org/I20089843"],"apc_list":null,"apc_paid":null,"fwci":7.9324,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.96990232,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5393","last_page":"5399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9984999895095825,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9984999895095825,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.9927999973297119,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9904000163078308,"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/multirotor","display_name":"Multirotor","score":0.8847896456718445},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.6627768278121948},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6470164656639099},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6172264814376831},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.5467230081558228},{"id":"https://openalex.org/keywords/wind-speed","display_name":"Wind speed","score":0.5373048186302185},{"id":"https://openalex.org/keywords/wind-power","display_name":"Wind power","score":0.5334672331809998},{"id":"https://openalex.org/keywords/wind-tunnel","display_name":"Wind tunnel","score":0.4446902871131897},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4096817672252655},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36634618043899536},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3518763482570648},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2822806239128113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18178844451904297},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.1044902503490448},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.08775362372398376},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08376345038414001},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07209137082099915}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.8847896456718445},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.6627768278121948},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6470164656639099},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6172264814376831},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.5467230081558228},{"id":"https://openalex.org/C161067210","wikidata":"https://www.wikidata.org/wiki/Q1464943","display_name":"Wind speed","level":2,"score":0.5373048186302185},{"id":"https://openalex.org/C78600449","wikidata":"https://www.wikidata.org/wiki/Q43302","display_name":"Wind power","level":2,"score":0.5334672331809998},{"id":"https://openalex.org/C100086909","wikidata":"https://www.wikidata.org/wiki/Q193010","display_name":"Wind tunnel","level":2,"score":0.4446902871131897},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4096817672252655},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36634618043899536},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3518763482570648},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2822806239128113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18178844451904297},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.1044902503490448},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.08775362372398376},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08376345038414001},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07209137082099915},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160454","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160454","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8899999856948853,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G4660319366","display_name":null,"funder_award_id":"FA9550-22-1-0020","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"},{"id":"https://openalex.org/G7447253409","display_name":null,"funder_award_id":"DGE-2039656","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W636631591","https://openalex.org/W1549749298","https://openalex.org/W1969160376","https://openalex.org/W2025864680","https://openalex.org/W2079382265","https://openalex.org/W2112979797","https://openalex.org/W2132353965","https://openalex.org/W2141666765","https://openalex.org/W2152553014","https://openalex.org/W2313824360","https://openalex.org/W2564043695","https://openalex.org/W2570763039","https://openalex.org/W2736619699","https://openalex.org/W2761441087","https://openalex.org/W2781726626","https://openalex.org/W2796252207","https://openalex.org/W2908306509","https://openalex.org/W3004521447","https://openalex.org/W3017349304","https://openalex.org/W3132065243","https://openalex.org/W3136466450","https://openalex.org/W3186912365","https://openalex.org/W3217056046","https://openalex.org/W4200438872","https://openalex.org/W4229014698","https://openalex.org/W4255197300","https://openalex.org/W4308144738","https://openalex.org/W4388392512","https://openalex.org/W6677057664","https://openalex.org/W6741275965","https://openalex.org/W6747473740"],"related_works":["https://openalex.org/W2728521155","https://openalex.org/W2556504211","https://openalex.org/W2810775292","https://openalex.org/W3150660900","https://openalex.org/W2914097399","https://openalex.org/W2625580943","https://openalex.org/W2889583896","https://openalex.org/W2168890371","https://openalex.org/W303993615","https://openalex.org/W2970778816"],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1],"vehicles":[2],"(UAVs)":[3],"are":[4,34],"finding":[5],"use":[6],"in":[7,57,79,109,147],"applications":[8],"that":[9],"place":[10],"increasing":[11],"emphasis":[12],"on":[13,43,72,129],"robustness":[14],"to":[15,104],"external":[16],"disturbances":[17],"including":[18],"extreme":[19],"wind.":[20],"However,":[21],"traditional":[22],"multirotor":[23,86],"UAV":[24,87],"platforms":[25],"do":[26],"not":[27],"directly":[28],"sense":[29],"wind;":[30],"conventional":[31],"flow":[32,69],"sensors":[33],"too":[35],"slow,":[36],"insensitive,":[37],"or":[38,59],"bulky":[39],"for":[40,88],"widespread":[41],"integration":[42],"UAVs.":[44],"Instead,":[45],"drones":[46],"typically":[47],"observe":[48],"the":[49,96,130,138],"effects":[50,128],"of":[51],"wind":[52,89,123],"indirectly":[53],"through":[54],"accumulated":[55],"errors":[56],"position":[58],"trajectory":[60],"tracking.":[61],"In":[62,102,132],"this":[63],"work,":[64],"we":[65,112,136],"integrate":[66],"a":[67,85,114],"novel":[68],"sensor":[70,92],"based":[71],"micro-electro-mechanical":[73],"systems":[74],"(MEMS)":[75],"hot-wire":[76],"technology":[77],"developed":[78],"our":[80],"prior":[81],"work":[82],"[1]":[83],"onto":[84],"estimation.":[90],"Our":[91],"is":[93],"omnidirectional":[94],"(in":[95],"plane),":[97],"lightweight,":[98],"fast,":[99],"and":[100,125],"accurate.":[101],"order":[103],"achieve":[105],"superior":[106],"hover":[107],"performance":[108],"windy":[110,149],"conditions,":[111],"train":[113],"\u2018wind-aware\u2019":[115],"residual-based":[116],"controller":[117,140],"via":[118],"reinforcement":[119],"learning":[120],"using":[121],"simulated":[122],"gusts":[124],"their":[126],"aerodynamic":[127],"drone.":[131],"extensive":[133],"hardware":[134],"experiments,":[135],"demonstrate":[137],"wind-aware":[139],"out-performing":[141],"two":[142],"strong":[143],"\u2018wind-unaware\u2019":[144],"baseline":[145],"controllers":[146],"challenging":[148],"conditions.":[150],"See:":[151],"youtu.be/KWqkH9Z-338.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}