{"id":"https://openalex.org/W4413945057","doi":"https://doi.org/10.1109/icra55743.2025.11128682","title":"Reliable Aerial Manipulation: Combining Visual Tracking with Range Sensing for Robust Grasping","display_name":"Reliable Aerial Manipulation: Combining Visual Tracking with Range Sensing for Robust Grasping","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945057","doi":"https://doi.org/10.1109/icra55743.2025.11128682"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128682","doi":"https://doi.org/10.1109/icra55743.2025.11128682","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128682","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"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"},"volume":null,"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/A5082515037","display_name":"Marc Bl\u00f6chlinger","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marc Bl\u00f6chlinger","raw_affiliation_strings":["ETH Zurich,Soft Robotics Laboratory,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Soft Robotics Laboratory,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051624448","display_name":"Yasunori Toshimitsu","orcid":"https://orcid.org/0000-0003-4896-8742","observed_orcids":["https://orcid.org/0000-0003-4896-8742"]},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Yasunori Toshimitsu","raw_affiliation_strings":["ETH Zurich,Soft Robotics Laboratory,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Soft Robotics Laboratory,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050915314","display_name":"Robert Kevin Katzschmann","orcid":"https://orcid.org/0000-0001-7143-7259","observed_orcids":["https://orcid.org/0000-0001-7143-7259"]},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Robert K. Katzschmann","raw_affiliation_strings":["ETH Zurich,Soft Robotics Laboratory,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Soft Robotics Laboratory,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":4.8005,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.94788709,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"7519","last_page":"7525"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.0010999999940395355,"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":0.0006000000284984708,"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/aerial-manipulation","display_name":"aerial manipulation","score":0.953000009059906},{"id":"https://openalex.org/keywords/object-localization","display_name":"object localization","score":0.7160000205039978},{"id":"https://openalex.org/keywords/visual-tracking","display_name":"visual object tracking","score":0.7770000100135803},{"id":"https://openalex.org/keywords/point-clouds","display_name":"point clouds","score":0.8880000114440918},{"id":"https://openalex.org/keywords/aerial-robots","display_name":"autonomous drones","score":0.6899999976158142},{"id":"https://openalex.org/keywords/grasp-success-rate","display_name":"grasp success rate","score":0.7369999885559082}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7150349617004395},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7096259593963623},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6723514795303345},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5516001582145691},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5269219279289246},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.4302871525287628},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12544184923171997},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128682","doi":"https://doi.org/10.1109/icra55743.2025.11128682","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128682","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"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":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1608271583","https://openalex.org/W2551680314","https://openalex.org/W2991336724","https://openalex.org/W3004117123","https://openalex.org/W3016085097","https://openalex.org/W3135835717","https://openalex.org/W3171492399","https://openalex.org/W4205508625","https://openalex.org/W4210270825","https://openalex.org/W4280577617","https://openalex.org/W4312959471","https://openalex.org/W4321609932","https://openalex.org/W4322768702","https://openalex.org/W4376602993","https://openalex.org/W4387772067","https://openalex.org/W4389668022","https://openalex.org/W4394597521","https://openalex.org/W4396875101","https://openalex.org/W4401895186"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Reliable":[0],"object":[1,68],"localization":[2,45,69],"is":[3],"a":[4,24,37,43,55,90,103,138],"critical":[5],"challenge":[6],"in":[7,31,124,145],"drone-based":[8],"aerial":[9,32,150],"manipulation,":[10],"particularly":[11],"when":[12,71],"objects":[13],"are":[14],"outside":[15],"the":[16,52,60,63,72,77,118,135,146],"camera's":[17],"field":[18,147],"of":[19,59,117,134,148],"view.":[20],"This":[21,109],"paper":[22],"presents":[23],"new":[25],"approach":[26],"to":[27],"enhance":[28],"drone":[29,73],"reliability":[30],"grasping":[33,113],"tasks":[34],"by":[35],"integrating":[36],"1D":[38],"time-of-flight":[39],"range":[40,48],"sensor":[41],"with":[42,83,99],"vision-based":[44],"system.":[46],"The":[47,128],"sensor,":[49],"positioned":[50],"beneath":[51,62],"drone,":[53,64],"generates":[54],"detailed":[56],"point":[57],"cloud":[58],"ground":[61],"allowing":[65],"for":[66,140],"precise":[67],"even":[70],"hovers":[74],"directly":[75],"above":[76],"target.":[78],"By":[79],"combining":[80],"visual":[81],"tracking":[82],"realtime":[84],"distance":[85],"measurements,":[86],"our":[87],"system":[88],"achieves":[89],"96":[91],"%":[92],"grasp":[93],"success":[94],"rate":[95],"across":[96],"128":[97],"trials":[98],"diverse":[100],"objects,":[101,119],"representing":[102],"significant":[104],"improvement":[105],"over":[106],"previous":[107],"approaches.":[108],"method":[110],"enables":[111],"zero-shot":[112],"without":[114],"prior":[115],"knowledge":[116],"increasing":[120],"versatility":[121],"and":[122,131,143],"robustness":[123],"complex,":[125],"unstructured":[126],"environments.":[127],"open-source":[129],"software":[130],"hardware":[132],"design":[133],"platform":[136],"provide":[137],"foundation":[139],"further":[141],"research":[142],"development":[144],"autonomous":[149],"manipulation.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-10-09T09:14:12.587421","created_date":"2025-10-10T00:00:00"}