{"id":"https://openalex.org/W2775815861","doi":"https://doi.org/10.1109/iros.2017.8206005","title":"Image-based visual servoing of helical microswimmers for arbitrary planar path following at low reynolds numbers","display_name":"Image-based visual servoing of helical microswimmers for arbitrary planar path following at low reynolds numbers","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2775815861","doi":"https://doi.org/10.1109/iros.2017.8206005","mag":"2775815861"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206005","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206005","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5017896153","display_name":"Yanming Guan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yanming Guan","raw_affiliation_strings":["CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Shenzhen, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078006294","display_name":"Tiantian Xu","orcid":"https://orcid.org/0000-0001-8974-4572"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiantian Xu","raw_affiliation_strings":["CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Shenzhen, China","Guangdong Provincial Key Lab of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Guangdong Provincial Key Lab of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100409741","display_name":"Jia Liu","orcid":"https://orcid.org/0000-0003-0383-0934"},"institutions":[{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jia Liu","raw_affiliation_strings":["CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Shenzhen, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100352764","display_name":"Xinyu Wu","orcid":"https://orcid.org/0000-0001-6130-7821"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Xinyu Wu","raw_affiliation_strings":["CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Shenzhen, China","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","Guangdong Provincial Key Lab of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems, Shenzhen Institutes of Advanced Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Guangdong Provincial Key Lab of Robotics and Intelligent System, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5017896153"],"corresponding_institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":1.7183,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.85288967,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1883","last_page":"1888"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9922999739646912,"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/visual-servoing","display_name":"Visual servoing","score":0.9169865846633911},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.7188947200775146},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.7028125524520874},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6255812644958496},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.6113980412483215},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5813024044036865},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4795553386211395},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4658065438270569},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.10880252718925476}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9169865846633911},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.7188947200775146},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7028125524520874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6255812644958496},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.6113980412483215},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5813024044036865},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4795553386211395},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4658065438270569},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.10880252718925476},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206005","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206005","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.6800000071525574}],"awards":[],"funders":[{"id":"https://openalex.org/F4320335803","display_name":"Shenzhen Fundamental Research and Discipline Layout project","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1908739489","https://openalex.org/W1979513602","https://openalex.org/W1990416424","https://openalex.org/W2018054297","https://openalex.org/W2040779745","https://openalex.org/W2045195134","https://openalex.org/W2056370235","https://openalex.org/W2082991751","https://openalex.org/W2089735086","https://openalex.org/W2090061794","https://openalex.org/W2100661647","https://openalex.org/W2107900012","https://openalex.org/W2109836092","https://openalex.org/W2142423459","https://openalex.org/W2143655183","https://openalex.org/W2161091531","https://openalex.org/W2161381314","https://openalex.org/W2168046319","https://openalex.org/W2417142630","https://openalex.org/W2475676697","https://openalex.org/W2989690613","https://openalex.org/W4302348355"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W1520171478","https://openalex.org/W2386520554","https://openalex.org/W3024380338","https://openalex.org/W4317830657","https://openalex.org/W2127866683","https://openalex.org/W2065095941","https://openalex.org/W110066474"],"abstract_inverted_index":{"Magnetically":[0],"actuated":[1],"microswimmers":[2],"have":[3,33],"shown":[4],"great":[5,95],"potentials":[6,96],"in":[7,44,65,97],"multiple":[8],"application":[9],"scenarios,":[10],"attracting":[11],"researchers":[12],"to":[13],"investigate":[14],"their":[15],"swimming":[16],"characteristics":[17],"and":[18,42,91,93],"controlling":[19],"methods.":[20],"However,":[21],"among":[22],"those":[23],"studies,":[24],"only":[25],"a":[26],"small":[27],"number":[28],"of":[29],"closed-loop":[30],"control":[31],"schemes":[32],"been":[34],"applied,":[35],"which":[36],"is":[37,89],"crucial":[38],"for":[39,56],"the":[40,84],"accuracy":[41],"repeatability":[43],"applications.":[45,99],"In":[46],"this":[47],"paper,":[48],"we":[49,72],"proposed":[50,85],"an":[51],"Image-Based":[52],"Visual":[53],"Servoing(IBVS)":[54],"method":[55,88],"arbitrary":[57],"planar":[58],"path":[59,86],"following":[60,87],"using":[61],"features":[62],"directly":[63],"presented":[64],"image":[66],"space":[67],"as":[68],"feedbacks.":[69],"During":[70],"experiments":[71],"found":[73],"that":[74],"IBVS":[75],"guarantees":[76],"convergence":[77],"while":[78],"not":[79],"requiring":[80],"camera":[81],"calibrations.":[82],"Furthermore,":[83],"intuitive":[90],"flexible,":[92],"provides":[94],"various":[98]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-23T06:02:50.125483","created_date":"2025-10-10T00:00:00"}