{"id":"https://openalex.org/W4401417051","doi":"https://doi.org/10.1109/icra57147.2024.10610100","title":"Bio-inspired visual relative localization for large swarms of UAVs","display_name":"Bio-inspired visual relative localization for large swarms of UAVs","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417051","doi":"https://doi.org/10.1109/icra57147.2024.10610100"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610100","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610100","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2412.02393","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102843418","display_name":"Martin K\u0159\u00ed\u017eek","orcid":"https://orcid.org/0000-0002-2668-4477"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Martin K\u0159\u00ed\u017eek","raw_affiliation_strings":["Czech Technical University in Prague,Faculty of Electrical Engineering,Prague,6"],"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague,Faculty of Electrical Engineering,Prague,6","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045441872","display_name":"Matou\u0161 Vrba","orcid":"https://orcid.org/0000-0002-4823-8291"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Matou\u0161 Vrba","raw_affiliation_strings":["Czech Technical University in Prague,Faculty of Electrical Engineering,Prague,6"],"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague,Faculty of Electrical Engineering,Prague,6","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106356865","display_name":"Antonella Bari\u0161i\u0107 Kula\u0161","orcid":null},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Antonella Bari\u0161i\u0107 Kula\u0161","raw_affiliation_strings":["University of Zagreb,Laboratory for Robotics and Intelligent Control Systems (LARICS), Faculty of Electrical Engineering and Computing,Zagreb,Croatia,10000"],"affiliations":[{"raw_affiliation_string":"University of Zagreb,Laboratory for Robotics and Intelligent Control Systems (LARICS), Faculty of Electrical Engineering and Computing,Zagreb,Croatia,10000","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071197011","display_name":"Stjepan Bogdan","orcid":"https://orcid.org/0000-0003-2636-3216"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Stjepan Bogdan","raw_affiliation_strings":["University of Zagreb,Laboratory for Robotics and Intelligent Control Systems (LARICS), Faculty of Electrical Engineering and Computing,Zagreb,Croatia,10000"],"affiliations":[{"raw_affiliation_string":"University of Zagreb,Laboratory for Robotics and Intelligent Control Systems (LARICS), Faculty of Electrical Engineering and Computing,Zagreb,Croatia,10000","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004992661","display_name":"Martin Saska","orcid":"https://orcid.org/0000-0001-7106-3816"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Martin Saska","raw_affiliation_strings":["Czech Technical University in Prague,Faculty of Electrical Engineering,Prague,6"],"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague,Faculty of Electrical Engineering,Prague,6","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102843418"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":1.3748,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.8745308,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"11825","last_page":"11831"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9954000115394592,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9936000108718872,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5696015357971191},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45033177733421326},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4392596483230591}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5696015357971191},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45033177733421326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4392596483230591}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10610100","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610100","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2412.02393","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2412.02393","pdf_url":"https://arxiv.org/pdf/2412.02393","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2412.02393","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2412.02393","pdf_url":"https://arxiv.org/pdf/2412.02393","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G112504165","display_name":null,"funder_award_id":"CZ.02.01.01/00/22_008/0004590","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G2678520069","display_name":null,"funder_award_id":"CZ.02.01","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G2880406428","display_name":null,"funder_award_id":"101071270","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6368936276","display_name":null,"funder_award_id":"23-07517S","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G7412942520","display_name":null,"funder_award_id":"SGS23/177/OHK3/3T/13","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G8395700221","display_name":null,"funder_award_id":"SGS23/177/OHK3/3T/13","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"},{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4401417051.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1686810756","https://openalex.org/W2463631526","https://openalex.org/W2560783864","https://openalex.org/W2567476380","https://openalex.org/W2729018917","https://openalex.org/W2926397355","https://openalex.org/W2953384591","https://openalex.org/W2955361002","https://openalex.org/W2964264515","https://openalex.org/W2971926293","https://openalex.org/W2989604896","https://openalex.org/W2999947750","https://openalex.org/W3003293872","https://openalex.org/W3005823520","https://openalex.org/W3013987429","https://openalex.org/W3034971973","https://openalex.org/W3119954594","https://openalex.org/W4210488105","https://openalex.org/W4246399668","https://openalex.org/W4288047773","https://openalex.org/W4362706882","https://openalex.org/W4404520987","https://openalex.org/W6631190155","https://openalex.org/W6637373629","https://openalex.org/W6713134421","https://openalex.org/W6776069494","https://openalex.org/W6850241096","https://openalex.org/W6851838748"],"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":{"We":[0,114],"propose":[1,68],"a":[2,43,71,79,97,116],"new":[3,110],"approach":[4,128],"to":[5,69,91,104,129,135,147],"visual":[6],"perception":[7,24],"for":[8,78,157],"relative":[9,63,111,137,155],"localization":[10,112,156],"of":[11,16,28,31,37,40,94,119,139,154],"agents":[12],"within":[13],"large-scale":[14],"swarms":[15,30],"Unmanned":[17],"Aerial":[18],"Vehicles":[19],"(UAVs).":[20],"Inspired":[21],"by":[22,26,57],"biological":[23],"utilized":[25],"schools":[27],"sardines,":[29],"bees,":[32],"and":[33,60,123,142],"other":[34],"large":[35],"groups":[36],"animals":[38],"capable":[39],"moving":[41],"in":[42],"decentralized":[44],"yet":[45],"coherent":[46],"manner,":[47],"our":[48],"method":[49],"does":[50],"not":[51],"rely":[52],"on":[53],"detecting":[54],"individual":[55],"neighbors":[56],"each":[58],"agent":[59],"estimating":[61],"their":[62],"position,":[64],"but":[65],"rather":[66],"we":[67],"regress":[70],"neighbor":[72],"density":[73],"over":[74],"distance.":[75],"This":[76],"allows":[77],"more":[80,133],"accurate":[81],"distance":[82,130],"estimation":[83,131],"as":[84,86,150],"well":[85],"better":[87],"scalability":[88],"with":[89,108],"respect":[90],"the":[92,109,120,126,140,151],"number":[93],"neighbors.":[95],"Additionally,":[96],"novel":[98],"swarm":[99,158],"control":[100],"algorithm":[101],"is":[102,132,145],"proposed":[103],"make":[105],"it":[106,144],"compatible":[107],"method.":[113],"provide":[115],"thorough":[117],"evaluation":[118],"presented":[121],"methods":[122],"demonstrate":[124],"that":[125,143],"regressing":[127],"robust":[134],"varying":[136],"pose":[138],"targets":[141],"suitable":[146],"be":[148],"used":[149],"main":[152],"source":[153],"stabilization.":[159]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2024-08-09T00:00:00"}
