{"id":"https://openalex.org/W4413926195","doi":"https://doi.org/10.1109/icra55743.2025.11127465","title":"Flying Through Moving Gates without Full State Estimation","display_name":"Flying Through Moving Gates without Full State Estimation","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926195","doi":"https://doi.org/10.1109/icra55743.2025.11127465"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5007447081","display_name":"Ralf R\u00f6mer","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Ralf R\u00f6mer","raw_affiliation_strings":["Technical University of Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114617331","display_name":"Tim Emmert","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim Emmert","raw_affiliation_strings":["Technical University of Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052147335","display_name":"Angela P. Schoellig","orcid":"https://orcid.org/0000-0003-4012-4668"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Angela P. Schoellig","raw_affiliation_strings":["Technical University of Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007447081"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21609366,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9906","last_page":"9912"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12250","display_name":"Experimental and Theoretical Physics Studies","score":0.9430999755859375,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12250","display_name":"Experimental and Theoretical Physics Studies","score":0.9430999755859375,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.9259999990463257,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5777875781059265},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5190439820289612},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.49381718039512634},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2049497663974762},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1421462893486023}],"concepts":[{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5777875781059265},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5190439820289612},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.49381718039512634},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2049497663974762},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1421462893486023},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1122491476","display_name":null,"funder_award_id":"16ME0997K","funder_id":"https://openalex.org/F4320321114","funder_display_name":"Bundesministerium f\u00fcr Bildung und Forschung"},{"id":"https://openalex.org/G2398295961","display_name":null,"funder_award_id":"GRK 2428","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1578294898","https://openalex.org/W1979482531","https://openalex.org/W2028893450","https://openalex.org/W2167340365","https://openalex.org/W2614122538","https://openalex.org/W2735140382","https://openalex.org/W2744855064","https://openalex.org/W2903464090","https://openalex.org/W2911956173","https://openalex.org/W2963037989","https://openalex.org/W3023637921","https://openalex.org/W3035571898","https://openalex.org/W3036408458","https://openalex.org/W3090649643","https://openalex.org/W3091667825","https://openalex.org/W3120919096","https://openalex.org/W3153486053","https://openalex.org/W3173344965","https://openalex.org/W3175099349","https://openalex.org/W3185165122","https://openalex.org/W3197225143","https://openalex.org/W3205915463","https://openalex.org/W4200465206","https://openalex.org/W4200630212","https://openalex.org/W4206366810","https://openalex.org/W4211049957","https://openalex.org/W4280571816","https://openalex.org/W4283262038","https://openalex.org/W4285117968","https://openalex.org/W4285163488","https://openalex.org/W4289542957","https://openalex.org/W4296912576","https://openalex.org/W4386285856","https://openalex.org/W4396910019","https://openalex.org/W4401416833","https://openalex.org/W4402354032"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Autonomous":[0],"drone":[1,87,154],"racing":[2,88,155],"requires":[3],"powerful":[4],"perception,":[5],"planning,":[6],"and":[7,9,14,63,82,94,161,169,195],"control":[8,100,151],"has":[10],"become":[11],"a":[12,99,105,157,163],"benchmark":[13],"test":[15],"field":[16],"for":[17,51,58,153],"autonomous,":[18],"agile":[19],"flight.":[20],"Existing":[21],"work":[22],"usually":[23],"assumes":[24],"static":[25],"race":[26,61,106],"tracks":[27],"with":[28],"known":[29],"maps,":[30],"which":[31],"enables":[32],"offline":[33],"planning":[34],"of":[35,116,119,131],"time-optimal":[36],"trajectories,":[37],"performing":[38],"localization":[39],"to":[40,43,77,121,135,188],"the":[41,45,59,117,122,129,139,148],"gates":[42,140,181],"reduce":[44],"drift":[46],"in":[47,80],"visual-inertial":[48],"odometry":[49],"(VIO)":[50],"state":[52],"estimation":[53],"or":[54,74,109,144],"training":[55],"learning-based":[56],"methods":[57],"particular":[60],"track":[62,107],"operating":[64],"environment.":[65],"In":[66],"contrast,":[67],"many":[68],"real-world":[69,170],"tasks":[70],"like":[71],"disaster":[72],"response":[73],"delivery":[75],"need":[76],"be":[78],"performed":[79],"unknown":[81],"dynamic":[83],"environments.":[84],"To":[85],"make":[86],"more":[89],"robust":[90,187],"against":[91],"unseen":[92],"environments":[93],"moving":[95,180],"gates,":[96],"we":[97,127,172],"propose":[98],"algorithm":[101,176],"that":[102,174],"operates":[103],"without":[104],"map":[108],"VIO,":[110],"relying":[111],"solely":[112],"on":[113],"monocular":[114],"measurements":[115],"line":[118],"sight":[120],"gates.":[123],"For":[124],"this":[125],"purpose,":[126],"adopt":[128],"law":[130],"proportional":[132],"navigation":[133],"(PN)":[134],"accurately":[136],"fly":[137],"through":[138,179],"despite":[141],"gate":[142,190],"motions":[143],"wind.":[145],"We":[146],"formulate":[147],"PN-informed":[149],"vision-based":[150],"problem":[152,160],"as":[156],"constrained":[158],"optimization":[159],"derive":[162],"closed-form":[164],"optimal":[165],"solution.":[166],"Through":[167],"simulations":[168],"experiments,":[171],"demonstrate":[173],"our":[175],"can":[177],"navigate":[178],"at":[182],"high":[183],"speeds":[184],"while":[185],"being":[186],"different":[189],"movements,":[191],"model":[192],"errors,":[193],"wind,":[194],"delays.":[196]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
