{"id":"https://openalex.org/W2567206329","doi":"https://doi.org/10.1109/iros.2016.7759270","title":"A swarm of flying smartphones","display_name":"A swarm of flying smartphones","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2567206329","doi":"https://doi.org/10.1109/iros.2016.7759270","mag":"2567206329"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5077485450","display_name":"Giuseppe Loianno","orcid":"https://orcid.org/0000-0002-3263-5401"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Giuseppe Loianno","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Phialdelphia, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Phialdelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087249519","display_name":"Yash Mulgaonkar","orcid":"https://orcid.org/0000-0002-5330-1208"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yash Mulgaonkar","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Phialdelphia, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Phialdelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000919482","display_name":"Chris Brunner","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087596","display_name":"Qualcomm (United States)","ror":"https://ror.org/002zrf773","country_code":"US","type":"company","lineage":["https://openalex.org/I4210087596"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chris Brunner","raw_affiliation_strings":["Qualcomm Technologies, Inc., San Diego, USA"],"affiliations":[{"raw_affiliation_string":"Qualcomm Technologies, Inc., San Diego, USA","institution_ids":["https://openalex.org/I4210087596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039797548","display_name":"Dheeraj Ahuja","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087596","display_name":"Qualcomm (United States)","ror":"https://ror.org/002zrf773","country_code":"US","type":"company","lineage":["https://openalex.org/I4210087596"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dheeraj Ahuja","raw_affiliation_strings":["Qualcomm Technologies, Inc., San Diego, USA"],"affiliations":[{"raw_affiliation_string":"Qualcomm Technologies, Inc., San Diego, USA","institution_ids":["https://openalex.org/I4210087596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060864995","display_name":"Arvind Ramanandan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087596","display_name":"Qualcomm (United States)","ror":"https://ror.org/002zrf773","country_code":"US","type":"company","lineage":["https://openalex.org/I4210087596"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arvind Ramanandan","raw_affiliation_strings":["Qualcomm Technologies, Inc., San Diego, USA"],"affiliations":[{"raw_affiliation_string":"Qualcomm Technologies, Inc., San Diego, USA","institution_ids":["https://openalex.org/I4210087596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046583781","display_name":"Murali Chari","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087596","display_name":"Qualcomm (United States)","ror":"https://ror.org/002zrf773","country_code":"US","type":"company","lineage":["https://openalex.org/I4210087596"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Murali Chari","raw_affiliation_strings":["Qualcomm Technologies, Inc., San Diego, USA"],"affiliations":[{"raw_affiliation_string":"Qualcomm Technologies, Inc., San Diego, USA","institution_ids":["https://openalex.org/I4210087596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103820786","display_name":"Serafin Diaz","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087596","display_name":"Qualcomm (United States)","ror":"https://ror.org/002zrf773","country_code":"US","type":"company","lineage":["https://openalex.org/I4210087596"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Serafin Diaz","raw_affiliation_strings":["Qualcomm Technologies, Inc., San Diego, USA"],"affiliations":[{"raw_affiliation_string":"Qualcomm Technologies, Inc., San Diego, USA","institution_ids":["https://openalex.org/I4210087596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112769739","display_name":"Vijay Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Phialdelphia, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Phialdelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5077485450"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":6.1049,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.95744201,"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":"1681","last_page":"1688"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9987999796867371,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7540498971939087},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6920209527015686},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.67011958360672},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6359047889709473},{"id":"https://openalex.org/keywords/upload","display_name":"Upload","score":0.6238075494766235},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.6140645146369934},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.601108193397522},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.552614688873291},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5028480887413025},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.485621839761734},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47239965200424194},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4426715672016144},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4307098984718323},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.36446428298950195},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3353806138038635},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18851754069328308},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.12582483887672424}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7540498971939087},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6920209527015686},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.67011958360672},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6359047889709473},{"id":"https://openalex.org/C71901391","wikidata":"https://www.wikidata.org/wiki/Q7126699","display_name":"Upload","level":2,"score":0.6238075494766235},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.6140645146369934},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.601108193397522},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.552614688873291},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5028480887413025},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.485621839761734},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47239965200424194},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4426715672016144},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4307098984718323},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.36446428298950195},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3353806138038635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18851754069328308},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.12582483887672424},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306087","display_name":"Semiconductor Research Corporation","ror":"https://ror.org/047z4n946"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W12428211","https://openalex.org/W1498041548","https://openalex.org/W1516539966","https://openalex.org/W1941749034","https://openalex.org/W1964462572","https://openalex.org/W1990101796","https://openalex.org/W1996985406","https://openalex.org/W2008793719","https://openalex.org/W2017332349","https://openalex.org/W2037971631","https://openalex.org/W2055904838","https://openalex.org/W2056298239","https://openalex.org/W2060794637","https://openalex.org/W2065894019","https://openalex.org/W2076917298","https://openalex.org/W2089801374","https://openalex.org/W2114345307","https://openalex.org/W2122612384","https://openalex.org/W2132453268","https://openalex.org/W2147536420","https://openalex.org/W2151103935","https://openalex.org/W2153159477","https://openalex.org/W2157958213","https://openalex.org/W2162991084","https://openalex.org/W2180778508","https://openalex.org/W2205407818","https://openalex.org/W2294713796","https://openalex.org/W3021731471","https://openalex.org/W6600534748","https://openalex.org/W6677444428","https://openalex.org/W6683225829"],"related_works":["https://openalex.org/W1973973903","https://openalex.org/W3195533899","https://openalex.org/W3208523813","https://openalex.org/W4287084017","https://openalex.org/W3179745820","https://openalex.org/W2537790823","https://openalex.org/W2594666386","https://openalex.org/W2545638156","https://openalex.org/W2359095091","https://openalex.org/W2000754062"],"abstract_inverted_index":{"In":[0,42,69],"the":[1,34,51,64,67,74,95,112,134,141,167],"last":[2],"decade,":[3],"consumer":[4,147],"electronic":[5],"devices":[6],"such":[7],"as":[8],"smartphones,":[9],"are":[10,84,121],"packaged":[11],"with":[12,148],"small":[13],"cameras,":[14],"gyroscopes,":[15],"and":[16,101,119,137,165],"accelerometers,":[17],"all":[18,122],"sensors":[19],"allowing":[20],"autonomous":[21,40,54,77],"deployment":[22],"of":[23,36,66,80,111,156],"aerial":[24,55],"robots":[25],"in":[26,57,104],"GPS-denied":[27],"environments.":[28],"Our":[29],"previous":[30],"work":[31,144],"[1],":[32],"demonstrated":[33],"feasibility":[35],"using":[37,132],"smartphones":[38,150],"for":[39],"flight.":[41],"many":[43],"applications,":[44],"there":[45],"is":[46],"a":[47,58,98,105,108,154,171],"large":[48],"interest":[49],"to":[50,61,86,151],"use":[52],"multiple":[53,149,157],"vehicles":[56,83,158],"cooperative":[59,106],"manner":[60,107],"speed":[62],"up":[63],"operation":[65],"mission.":[68],"this":[70],"work,":[71],"we":[72],"present":[73],"first":[75],"fully":[76],"smartphone-based":[78],"swarm":[79,155,168],"quadrotors.":[81],"Multiple":[82],"able":[85],"plan":[87],"safe":[88],"trajectories":[89],"avoiding":[90],"inter-robot":[91],"collisions,":[92],"optimizing":[93],"at":[94],"same":[96],"time":[97],"given":[99],"task":[100],"concurrently":[102],"building":[103],"3-D":[109,172],"map":[110,170],"environment.":[113,173],"The":[114,143],"sensing,":[115],"sensor":[116],"fusion,":[117],"control,":[118],"planning":[120],"done":[123],"on":[124,140],"an":[125,163],"offthe-":[126],"shelf":[127],"Samsung":[128],"Galaxy":[129],"S5":[130],"smartphone":[131],"just":[133],"single":[135],"camera":[136],"IMU":[138],"available":[139],"phone.":[142],"allows":[145],"any":[146],"autonomously":[152],"drive":[153],"without":[159],"GPS,":[160],"by":[161],"downloading":[162],"app,":[164],"have":[166],"cooperatively":[169]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}