{"id":"https://openalex.org/W2098251717","doi":"https://doi.org/10.1109/iros.2008.4651089","title":"Aerial robot piloted in steep relief by optic flow sensors","display_name":"Aerial robot piloted in steep relief by optic flow sensors","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2098251717","doi":"https://doi.org/10.1109/iros.2008.4651089","mag":"2098251717"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4651089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651089","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5086150456","display_name":"Franck Ruffier","orcid":"https://orcid.org/0000-0002-7854-1275"},"institutions":[{"id":"https://openalex.org/I21491767","display_name":"Aix-Marseille Universit\u00e9","ror":"https://ror.org/035xkbk20","country_code":"FR","type":"education","lineage":["https://openalex.org/I21491767"]},{"id":"https://openalex.org/I26840924","display_name":"Mediterranean University","ror":"https://ror.org/03tsjvt68","country_code":"ME","type":"education","lineage":["https://openalex.org/I26840924"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR","ME"],"is_corresponding":true,"raw_author_name":"F. Ruffier","raw_affiliation_strings":["Biorobotics Department Institute of Movement Sciences,CNRS, University of the Mediterranean, Marseilles, France","Biorobotics Dept., Univ. of the Mediterranean, Marseille"],"affiliations":[{"raw_affiliation_string":"Biorobotics Department Institute of Movement Sciences,CNRS, University of the Mediterranean, Marseilles, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I21491767"]},{"raw_affiliation_string":"Biorobotics Dept., Univ. of the Mediterranean, Marseille","institution_ids":["https://openalex.org/I26840924","https://openalex.org/I21491767"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024411706","display_name":"Nicolas Franceschini","orcid":null},"institutions":[{"id":"https://openalex.org/I21491767","display_name":"Aix-Marseille Universit\u00e9","ror":"https://ror.org/035xkbk20","country_code":"FR","type":"education","lineage":["https://openalex.org/I21491767"]},{"id":"https://openalex.org/I26840924","display_name":"Mediterranean University","ror":"https://ror.org/03tsjvt68","country_code":"ME","type":"education","lineage":["https://openalex.org/I26840924"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR","ME"],"is_corresponding":false,"raw_author_name":"N. Franceschini","raw_affiliation_strings":["Biorobotics Department Institute of Movement Sciences,CNRS, University of the Mediterranean, Marseilles, France","Biorobotics Dept., Univ. of the Mediterranean, Marseille"],"affiliations":[{"raw_affiliation_string":"Biorobotics Department Institute of Movement Sciences,CNRS, University of the Mediterranean, Marseilles, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I21491767"]},{"raw_affiliation_string":"Biorobotics Dept., Univ. of the Mediterranean, Marseille","institution_ids":["https://openalex.org/I26840924","https://openalex.org/I21491767"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5086150456"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I21491767","https://openalex.org/I26840924"],"apc_list":null,"apc_paid":null,"fwci":4.2141,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.94451214,"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":"1266","last_page":"1273"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9987999796867371,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9987999796867371,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9940000176429749,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.98580002784729,"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/autopilot","display_name":"Autopilot","score":0.6554645895957947},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.548410177230835},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5392594933509827},{"id":"https://openalex.org/keywords/octave","display_name":"Octave (electronics)","score":0.48184049129486084},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.4610303044319153},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.42119351029396057},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4180881977081299},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3335736393928528},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.332369863986969},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3152402639389038},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.312639057636261},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.15385311841964722},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.10939708352088928},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09974539279937744}],"concepts":[{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.6554645895957947},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.548410177230835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5392594933509827},{"id":"https://openalex.org/C85841341","wikidata":"https://www.wikidata.org/wiki/Q1135984","display_name":"Octave (electronics)","level":2,"score":0.48184049129486084},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.4610303044319153},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.42119351029396057},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4180881977081299},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3335736393928528},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.332369863986969},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3152402639389038},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.312639057636261},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.15385311841964722},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.10939708352088928},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09974539279937744},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2008.4651089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651089","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.75}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W40287209","https://openalex.org/W89519189","https://openalex.org/W1492940630","https://openalex.org/W1506754661","https://openalex.org/W1964390979","https://openalex.org/W1984205956","https://openalex.org/W1991699668","https://openalex.org/W2002010034","https://openalex.org/W2015764815","https://openalex.org/W2026623447","https://openalex.org/W2032433722","https://openalex.org/W2044598641","https://openalex.org/W2056464200","https://openalex.org/W2064401774","https://openalex.org/W2087413700","https://openalex.org/W2089619860","https://openalex.org/W2102804817","https://openalex.org/W2103103416","https://openalex.org/W2104067080","https://openalex.org/W2105597509","https://openalex.org/W2115270410","https://openalex.org/W2116108870","https://openalex.org/W2124103005","https://openalex.org/W2137036481","https://openalex.org/W2140638079","https://openalex.org/W2148498215","https://openalex.org/W2153525021","https://openalex.org/W2158598687","https://openalex.org/W2160328285","https://openalex.org/W2167132660","https://openalex.org/W2172253499","https://openalex.org/W2199368383","https://openalex.org/W2203639824","https://openalex.org/W4230193305","https://openalex.org/W6601623638","https://openalex.org/W6675663356","https://openalex.org/W6688024928"],"related_works":["https://openalex.org/W2528333064","https://openalex.org/W2357122534","https://openalex.org/W2148668825","https://openalex.org/W2159456118","https://openalex.org/W4287557383","https://openalex.org/W2268481623","https://openalex.org/W2169677720","https://openalex.org/W2350405024","https://openalex.org/W3112224989","https://openalex.org/W2366123023"],"abstract_inverted_index":{"We":[0,120,145],"have":[1],"developed":[2],"a":[3,11,89,104,109,126,152,178],"new":[4,85,123],"vision":[5],"based":[6,107],"autopilot":[7,124],"able":[8],"to":[9,61,69,77,97,115,162,177],"make":[10],"micro-air":[12],"vehicle":[13],"automatically":[14],"navigate":[15],"in":[16,150,166],"steep":[17,64,118,154],"relief.":[18,65,119],"It":[19],"uses":[20],"onboard":[21],"Optic":[22],"Flow":[23],"sensors":[24,75],"inspired":[25],"by":[26],"the":[27,49,54,84,93,99,117,122,143,163,167,183,191],"housefly's":[28],"Elementary":[29],"Motion":[30],"Detectors":[31],"(EMDs)":[32],"that":[33,130,147],"were":[34],"previously":[35],"investigated":[36],"at":[37],"our":[38],"Laboratory":[39],"with":[40,63],"electrophysiological":[41],"and":[42,72,76,80,193],"micro-optical":[43],"techniques.":[44],"The":[45,66],"paper":[46],"investigates":[47],"how":[48],"ground":[50,164],"avoidance":[51],"performances":[52],"of":[53,137,169],"former":[55],"OCTAVE":[56],"robot":[57],"could":[58],"be":[59],"enhanced":[60],"cope":[62],"idea":[67],"is":[68,174,187,194],"combine":[70],"frontal":[71],"ventral":[73,100],"OF":[74,101,184],"merge":[78],"feedback":[79,90],"feedforward":[81,105],"loops.":[82],"In":[83],"robot,":[86],"called":[87],"OCTAVE(2),":[88],"loop":[91,106],"adjusts":[92],"lift":[94],"so":[95],"as":[96],"keep":[98],"constant,":[102],"while":[103,159],"on":[108,125,142],"forward":[110],"looking":[111],"EMD":[112],"sensor":[113,185],"serves":[114],"anticipate":[116],"test":[121],"100-gram":[127],"tethered":[128],"rotorcraft":[129],"circles":[131],"indoors":[132],"over":[133],"an":[134],"environment":[135],"composed":[136],"contrasting":[138],"features":[139],"randomly":[140],"arranged":[141],"floor.":[144],"show":[146],"OCTAVE(2)":[148],"succeeds":[149],"following":[151],"relatively":[153],"relief":[155],"(maximum":[156],"slope":[157],"17deg)":[158],"navigating":[160],"close":[161],"(groundheight":[165],"order":[168],"lm).":[170],"This":[171],"risky":[172],"task":[173],"performed":[175],"thanks":[176],"minimalist":[179],"electronic":[180],"visual":[181],"system:":[182],"suite":[186],"lightweight":[188],"(4.3-grams":[189],"including":[190],"lenses),":[192],"therefore":[195],"mounted":[196],"onboard.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}