{"id":"https://openalex.org/W4383172011","doi":"https://doi.org/10.1109/icra48891.2023.10161462","title":"Simplifying Aerial Manipulation Using Intentional Collisions","display_name":"Simplifying Aerial Manipulation Using Intentional Collisions","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383172011","doi":"https://doi.org/10.1109/icra48891.2023.10161462"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161462","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":"conference-paper","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/A5019780817","display_name":"Mark Nail","orcid":"https://orcid.org/0000-0002-5675-0332"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Nail","raw_affiliation_strings":["University of Michigan,Robotics Department,Ann Arbor,MI,USA,48105"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Robotics Department,Ann Arbor,MI,USA,48105","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092400840","display_name":"Nick J\u00e4nne","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nick J\u00e4nne","raw_affiliation_strings":["University of Michigan,Department of Electrical and Computer Engineering,Ann Arbor,MI,USA,48105"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Electrical and Computer Engineering,Ann Arbor,MI,USA,48105","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114064101","display_name":"Olivia Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Olivia Ma","raw_affiliation_strings":["University of Michigan,Robotics Department,Ann Arbor,MI,USA,48105"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Robotics Department,Ann Arbor,MI,USA,48105","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042738977","display_name":"Gabriel Arellano","orcid":"https://orcid.org/0000-0003-3990-5344"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gabriel Arellano","raw_affiliation_strings":["University of Michigan,Department of Ecology and Evolutionary Biology,Ann Arbor,MI,USA,48105"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Ecology and Evolutionary Biology,Ann Arbor,MI,USA,48105","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000130413","display_name":"Ella Atkins","orcid":"https://orcid.org/0000-0003-2132-6256"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ella Atkins","raw_affiliation_strings":["Virginia Tech,Department of Aerospace and Ocean Engineering,Blacksburg,VA,USA,24061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Virginia Tech,Department of Aerospace and Ocean Engineering,Blacksburg,VA,USA,24061","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020611092","display_name":"R. Brent Gillespie","orcid":"https://orcid.org/0000-0002-1051-0026"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. Brent Gillespie","raw_affiliation_strings":["University of Michigan,Robotics Department,Ann Arbor,MI,USA,48105"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Robotics Department,Ann Arbor,MI,USA,48105","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5359","last_page":"5365"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9950000047683716,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/waypoint","display_name":"Waypoint","score":0.6839160919189453},{"id":"https://openalex.org/keywords/envelope","display_name":"Envelope (radar)","score":0.6500771045684814},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5955552458763123},{"id":"https://openalex.org/keywords/flight-envelope","display_name":"Flight envelope","score":0.5863951444625854},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5836476683616638},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5726800560951233},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5423108339309692},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5021882057189941},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.46623843908309937},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45750996470451355},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4360975921154022},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4318067133426666},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4117448031902313},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2864573001861572},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.27060428261756897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22834226489067078},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2110956907272339},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.20827656984329224}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.6839160919189453},{"id":"https://openalex.org/C65155139","wikidata":"https://www.wikidata.org/wiki/Q5380912","display_name":"Envelope (radar)","level":3,"score":0.6500771045684814},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5955552458763123},{"id":"https://openalex.org/C72898154","wikidata":"https://www.wikidata.org/wiki/Q458038","display_name":"Flight envelope","level":3,"score":0.5863951444625854},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5836476683616638},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5726800560951233},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5423108339309692},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5021882057189941},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.46623843908309937},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45750996470451355},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4360975921154022},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4318067133426666},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4117448031902313},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2864573001861572},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.27060428261756897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22834226489067078},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2110956907272339},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.20827656984329224},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161462","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":0.6100000143051147,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2653941","https://openalex.org/W2065576483","https://openalex.org/W2120225005","https://openalex.org/W2163862895","https://openalex.org/W2751895770","https://openalex.org/W2755690288","https://openalex.org/W2766121308","https://openalex.org/W2792083172","https://openalex.org/W2809971797","https://openalex.org/W2891407278","https://openalex.org/W2909059947","https://openalex.org/W2909759543","https://openalex.org/W2972798201","https://openalex.org/W2982558025","https://openalex.org/W3003797693","https://openalex.org/W3021314260","https://openalex.org/W3029705903","https://openalex.org/W3089968696","https://openalex.org/W3132030483","https://openalex.org/W3189480246","https://openalex.org/W4205324232","https://openalex.org/W4225919206","https://openalex.org/W4233561989","https://openalex.org/W4285169760","https://openalex.org/W4300754427","https://openalex.org/W6758616539"],"related_works":["https://openalex.org/W1586853305","https://openalex.org/W4206668738","https://openalex.org/W4232894571","https://openalex.org/W2147230938","https://openalex.org/W340860668","https://openalex.org/W2392397462","https://openalex.org/W1969344487","https://openalex.org/W2728493176","https://openalex.org/W2379959220","https://openalex.org/W2056873526"],"abstract_inverted_index":{"Aerial":[0],"manipulation":[1,23,38],"describes":[2],"a":[3,53,78,97,103,123,133,158,163,179],"process":[4],"that":[5,101,196],"includes":[6],"physical":[7],"interaction":[8],"between":[9,85],"an":[10,93,193],"unmanned":[11],"aircraft":[12],"system":[13],"(UAS)":[14],"and":[15,27,48,88,138,171],"its":[16,89],"environment.":[17,90],"We":[18,91,128,152],"aim":[19],"to":[20,24,36,52,117,121,142,146,150,203],"apply":[21],"aerial":[22,37],"sample":[25],"leaves":[26],"small":[28],"branches":[29],"from":[30,157],"rain":[31],"forest":[32],"trees.":[33],"Current":[34],"approaches":[35],"involve":[39],"extended":[40],"periods":[41],"of":[42,110,132,165,181],"UAS-environment":[43],"interaction,":[44],"during":[45,114],"which":[46],"forces":[47],"moments":[49],"can":[50],"lead":[51],"loss":[54],"in":[55,60,70,167,192,207],"attitude":[56,94],"or":[57],"position":[58],"control":[59,174],"underactuated":[61],"multicopters.":[62],"By":[63],"adapting":[64],"intelligent":[65],"foot":[66,106],"placement":[67],"strategies":[68],"found":[69],"dynamically":[71],"stable":[72],"hopping":[73],"robots,":[74],"this":[75,154],"work":[76],"proposes":[77],"strategy":[79],"involving":[80,136],"carefully":[81],"managed":[82],"intentional":[83],"collisions":[84],"the":[86,108,130,188,204],"UAS":[87,119],"designed":[92],"controller":[95,100],"denoted":[96],"Velocity":[98,172],"Matching":[99,173],"aligns":[102],"UAS-mounted":[104],"pogo-stick":[105],"with":[107],"center":[109],"mass":[111],"velocity":[112],"vector":[113],"collision":[115,182],"approach":[116,149],"maximize":[118],"ability":[120],"recover":[122],"hover":[124],"state":[125],"after":[126],"collision.":[127,151],"propose":[129],"use":[131],"flight":[134,155,166,185],"envelope":[135,156,190,195,205],"altitude":[137],"horizontal":[139],"speed":[140],"states":[141],"assess":[143],"recoverability":[144],"prior":[145],"initiating":[147],"each":[148],"identify":[153],"simulation":[159],"study":[160],"built":[161],"on":[162],"model":[164,180],"Conventional":[168],"Waypoint":[169],"Following":[170],"modes":[175],"as":[176,178],"well":[177],"response.":[183],"Experimental":[184],"testing":[186],"evaluates":[187],"simulation-based":[189],"resulting":[191],"actual":[194],"is":[197],"somewhat":[198],"smaller":[199],"but":[200],"similarly":[201],"shaped":[202],"identified":[206],"simulation.":[208]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
