{"id":"https://openalex.org/W2093489003","doi":"https://doi.org/10.1109/iros.2014.6942701","title":"Environment-independent formation flight for micro aerial vehicles","display_name":"Environment-independent formation flight for micro aerial vehicles","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2093489003","doi":"https://doi.org/10.1109/iros.2014.6942701","mag":"2093489003"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942701","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5006367245","display_name":"Tobias N\u00e4geli","orcid":null},"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":true,"raw_author_name":"Tobias Nageli","raw_affiliation_strings":["Department of Computer Science, ETH Zurich, Zurich, Switzerland","Advanced Interactive Technologies Lab, Department of Computer Science, ETH Zurich, 8092, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Advanced Interactive Technologies Lab, Department of Computer Science, ETH Zurich, 8092, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066362346","display_name":"Christian Conte","orcid":null},"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":"Christian Conte","raw_affiliation_strings":["Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich, Switzerland","[Automatic Control Laboratory, Department of Information Technology and Electrical Engineering, ETH Zurich, 8092, Switzerland]"],"affiliations":[{"raw_affiliation_string":"Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"[Automatic Control Laboratory, Department of Information Technology and Electrical Engineering, ETH Zurich, 8092, Switzerland]","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079722989","display_name":"Alexander Domahidi","orcid":"https://orcid.org/0000-0002-6828-1668"},"institutions":[{"id":"https://openalex.org/I4210123353","display_name":"Inspire","ror":"https://ror.org/02sy45055","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210123353"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alexander Domahidi","raw_affiliation_strings":["Inspire AG, Zurich, Switzerland","inspire AG, Technoparkstrasse 1, 8005 Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Inspire AG, Zurich, Switzerland","institution_ids":["https://openalex.org/I4210123353"]},{"raw_affiliation_string":"inspire AG, Technoparkstrasse 1, 8005 Zurich, Switzerland","institution_ids":["https://openalex.org/I4210123353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025946191","display_name":"Manfred Morari","orcid":"https://orcid.org/0000-0002-7696-5058"},"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":"Manfred Morari","raw_affiliation_strings":["Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich, Switzerland","[Automatic Control Laboratory, Department of Information Technology and Electrical Engineering, ETH Zurich, 8092, Switzerland]"],"affiliations":[{"raw_affiliation_string":"Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"[Automatic Control Laboratory, Department of Information Technology and Electrical Engineering, ETH Zurich, 8092, Switzerland]","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025000908","display_name":"Otmar Hilliges","orcid":"https://orcid.org/0000-0002-5068-3474"},"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":"Otmar Hilliges","raw_affiliation_strings":["Department of Computer Science, ETH Zurich, Zurich, Switzerland","Advanced Interactive Technologies Lab, Department of Computer Science, ETH Zurich, 8092, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Advanced Interactive Technologies Lab, Department of Computer Science, ETH Zurich, 8092, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5006367245"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":4.8273,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.95531054,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1141","last_page":"1146"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.9957000017166138,"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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.980400025844574,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/software-deployment","display_name":"Software deployment","score":0.6524505615234375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5699856281280518},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5298174619674683},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5203120708465576},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.48562517762184143},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4586091637611389},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3942376375198364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36288630962371826},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3511192202568054},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08862799406051636}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6524505615234375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5699856281280518},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5298174619674683},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5203120708465576},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.48562517762184143},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4586091637611389},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3942376375198364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36288630962371826},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3511192202568054},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08862799406051636},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6942701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942701","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1528184823","https://openalex.org/W1604116805","https://openalex.org/W1979934889","https://openalex.org/W2035647830","https://openalex.org/W2043576939","https://openalex.org/W2065894019","https://openalex.org/W2098432798","https://openalex.org/W2099148069","https://openalex.org/W2100425105","https://openalex.org/W2108879121","https://openalex.org/W2109196112","https://openalex.org/W2121912106","https://openalex.org/W2129005640","https://openalex.org/W2144840318","https://openalex.org/W2148118070","https://openalex.org/W2162186565","https://openalex.org/W2162991084","https://openalex.org/W2279958071","https://openalex.org/W2729161127","https://openalex.org/W3021409525","https://openalex.org/W4285719527","https://openalex.org/W6682132174","https://openalex.org/W6776667571"],"related_works":["https://openalex.org/W96612179","https://openalex.org/W2770234245","https://openalex.org/W2566006169","https://openalex.org/W2987774938","https://openalex.org/W632915154","https://openalex.org/W4229499248","https://openalex.org/W4378874356","https://openalex.org/W2055733372","https://openalex.org/W2162299404","https://openalex.org/W2103062922"],"abstract_inverted_index":{"Some":[0],"aerial":[1,19],"tasks":[2],"are":[3],"achieved":[4],"more":[5,27],"efficiently":[6],"and":[7,49,82,115,145],"at":[8],"a":[9,13,25,37,65,105,135,148],"lower":[10],"cost":[11],"by":[12],"group":[14],"of":[15,41,44,51,54,56,64,67,150,158],"independently":[16],"controlled":[17],"micro":[18],"vehicles":[20],"(MAVs)":[21],"when":[22],"compared":[23],"to":[24,127],"single,":[26],"sophisticated":[28],"robot.":[29],"Controlling":[30],"formation":[31,66,102,149],"flight":[32],"can":[33],"be":[34],"cast":[35],"as":[36],"two-level":[38],"problem:":[39],"stabilization":[40],"relative":[42,100,129],"distances":[43],"agents":[45],"(formation":[46],"shape":[47,62],"control)":[48],"control":[50,63,107],"the":[52,57,155],"center":[53,157],"gravity":[55,159],"formation.":[58],"To":[59],"date,":[60],"accurate":[61],"MAVs":[68,152],"usually":[69],"relies":[70,110],"on":[71,112],"external":[72],"tracking":[73],"devices":[74],"(e.g.":[75,80],"fixed":[76],"cameras)":[77],"or":[78],"signals":[79],"GPS)":[81],"uses":[83],"centralized":[84],"control,":[85],"which":[86,109],"severely":[87],"limits":[88],"its":[89],"deployment.":[90],"In":[91,119],"this":[92],"paper,":[93],"we":[94],"present":[95],"an":[96,121],"environment-independent":[97],"approach":[98],"for":[99],"MAV":[101],"flight,":[103],"using":[104],"distributed":[106,137],"algorithm":[108],"only":[111],"embedded":[113],"sensing":[114],"agentto-":[116],"agent":[117],"communication.":[118],"particular,":[120],"on-board":[122],"monocular":[123],"camera":[124],"is":[125],"used":[126],"acquire":[128],"distance":[130],"measurements":[131],"in":[132],"combination":[133],"with":[134,147],"consensus-based":[136],"Kalman":[138],"filter.":[139],"We":[140],"evaluate":[141],"our":[142],"methods":[143],"in-":[144],"outdoors":[146],"three":[151],"while":[153],"controlling":[154],"formation's":[156],"manually.":[160]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}