{"id":"https://openalex.org/W3010272570","doi":"https://doi.org/10.1109/iros45743.2020.9341804","title":"Staging energy sources to extend flight time of a multirotor UAV","display_name":"Staging energy sources to extend flight time of a multirotor UAV","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3010272570","doi":"https://doi.org/10.1109/iros45743.2020.9341804","mag":"3010272570"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341804","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341804","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.04290","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065866385","display_name":"Karan P. Jain","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Karan P. Jain","raw_affiliation_strings":["High Performance Robotics Lab"],"affiliations":[{"raw_affiliation_string":"High Performance Robotics Lab","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057138351","display_name":"Jerry Tang","orcid":"https://orcid.org/0000-0002-4863-354X"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jerry Tang","raw_affiliation_strings":["High Performance Robotics Lab"],"affiliations":[{"raw_affiliation_string":"High Performance Robotics Lab","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054075105","display_name":"Koushil Sreenath","orcid":"https://orcid.org/0000-0002-5346-3637"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Koushil Sreenath","raw_affiliation_strings":["Dept. of Mechanical Engineering, Hybrid Robotics group, UC Berkeley, CA, USA","UC Berkeley,Hybrid Robotics group,Dept. of Mechanical Engineering,CA,USA,94720"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Hybrid Robotics group, UC Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"UC Berkeley,Hybrid Robotics group,Dept. of Mechanical Engineering,CA,USA,94720","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009591368","display_name":"Mark W. Mueller","orcid":"https://orcid.org/0000-0002-0557-5677"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark W. Mueller","raw_affiliation_strings":["High Performance Robotics Lab","University of California\u2013Berkeley"],"affiliations":[{"raw_affiliation_string":"High Performance Robotics Lab","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"University of California\u2013Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5065866385"],"corresponding_institution_ids":["https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":1.19464248,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.84370159,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1132","last_page":"1139"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9969000220298767,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9969000220298767,"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":0.9947999715805054,"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/T11524","display_name":"Advanced Aircraft Design and Technologies","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2306","display_name":"Global and Planetary Change"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.7004143595695496},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.6527242660522461},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.5538981556892395},{"id":"https://openalex.org/keywords/fuel-efficiency","display_name":"Fuel efficiency","score":0.5264847278594971},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5004012584686279},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.47640812397003174},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.46044811606407166},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.4348430633544922},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40057143568992615},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3720269203186035},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35849541425704956},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.3166647255420685},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13402998447418213},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12043747305870056},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09103414416313171}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.7004143595695496},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.6527242660522461},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.5538981556892395},{"id":"https://openalex.org/C45882903","wikidata":"https://www.wikidata.org/wiki/Q5042317","display_name":"Fuel efficiency","level":2,"score":0.5264847278594971},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5004012584686279},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.47640812397003174},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.46044811606407166},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.4348430633544922},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40057143568992615},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3720269203186035},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35849541425704956},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.3166647255420685},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13402998447418213},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12043747305870056},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09103414416313171},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/iros45743.2020.9341804","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341804","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.04290","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.04290","pdf_url":"https://arxiv.org/pdf/2003.04290","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":"","raw_type":"text"},{"id":"pmh:oai:escholarship.org:ark:/13030/qt5b67g28h","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/5b67g28h","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:escholarship.org:ark:/13030/qt7wb340qd","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/7wb340qd","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"doi:10.48550/arxiv.2003.04290","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.04290","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:3010272570","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.04290","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.04290","pdf_url":"https://arxiv.org/pdf/2003.04290","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":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8999999761581421,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332814","display_name":"UC Berkeley College of Chemistry","ror":"https://ror.org/01an7q238"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3010272570.pdf","grobid_xml":"https://content.openalex.org/works/W3010272570.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1502323600","https://openalex.org/W1866085187","https://openalex.org/W1928748678","https://openalex.org/W1963572424","https://openalex.org/W1965468906","https://openalex.org/W1985011424","https://openalex.org/W1997174665","https://openalex.org/W2031850322","https://openalex.org/W2078550341","https://openalex.org/W2080604812","https://openalex.org/W2186392997","https://openalex.org/W2186850925","https://openalex.org/W2320174501","https://openalex.org/W2571149404","https://openalex.org/W2782158080","https://openalex.org/W2794680821","https://openalex.org/W2889847861","https://openalex.org/W2890043150","https://openalex.org/W2920881822","https://openalex.org/W2967399189","https://openalex.org/W2967935566","https://openalex.org/W3089561366","https://openalex.org/W4250589301","https://openalex.org/W6686694669","https://openalex.org/W6760498949"],"related_works":["https://openalex.org/W3129202767","https://openalex.org/W3013236558","https://openalex.org/W2950586369","https://openalex.org/W2301631388","https://openalex.org/W2134684771","https://openalex.org/W2055394171","https://openalex.org/W2968168174","https://openalex.org/W2331631304","https://openalex.org/W759728326","https://openalex.org/W846278412","https://openalex.org/W2463643015","https://openalex.org/W46905565","https://openalex.org/W2329259484","https://openalex.org/W2288749558","https://openalex.org/W3151660054","https://openalex.org/W2324325652","https://openalex.org/W3182676158","https://openalex.org/W2324255185","https://openalex.org/W1992569848","https://openalex.org/W2346294325"],"abstract_inverted_index":{"Energy":[0],"sources":[1],"such":[2,151],"as":[3,221],"batteries":[4,217],"do":[5],"not":[6],"decrease":[7],"in":[8,26,74,212,218],"mass":[9,36,56,97],"after":[10,178],"consumption,":[11,44],"unlike":[12],"combustion-based":[13],"fuels.":[14],"We":[15,69,105,207],"present":[16],"the":[17,35,62,145,160,189,202,216],"concept":[18],"of":[19,37,65,80,86,92,103,144],"staging":[20,66,76,81],"energy":[21,25,54,87,95],"sources,":[22,88],"i.e.":[23],"consuming":[24],"stages":[27,220],"and":[28,45,89,121,185],"ejecting":[29],"used":[30],"stages,":[31],"to":[32,60,67,223],"progressively":[33],"reduce":[34],"aerial":[38],"vehicles":[39],"in-flight":[40,180],"which":[41],"reduces":[42],"power":[43],"consequently":[46],"increases":[47],"flight":[48,51,141,163,194,213],"time.":[49],"A":[50],"time":[52,142,214],"vs.":[53],"storage":[55,96],"analysis":[57,161,203],"is":[58],"presented":[59],"show":[61,127],"endurance":[63],"benefit":[64],"multirotors.":[68],"consider":[70],"two":[71,110,219],"specific":[72],"problems":[73],"discrete":[75],"--":[77,114],"optimal":[78,90],"order":[79],"given":[82,94,101],"a":[83,93,100,122,129,166,175,182,209,224],"certain":[84],"number":[85,102],"partitioning":[91],"budget":[98],"into":[99],"stages.":[104],"then":[106],"derive":[107],"results":[108],"for":[109,154,204],"continuously":[111],"staged":[112],"cases":[113],"an":[115,136],"internal":[116,133],"combustion":[117,134],"engine":[118],"driving":[119],"propellers":[120],"rocket":[123,155],"engine.":[124],"Notably,":[125],"we":[126,158],"that":[128],"multicopter":[130],"powered":[131],"by":[132],"has":[135],"upper":[137],"limit":[138,152],"on":[139,165],"achievable":[140],"independent":[143],"available":[146],"fuel":[147],"mass,":[148],"but":[149],"no":[150],"exists":[153],"propulsion.":[156],"Lastly,":[157],"validate":[159],"with":[162,198],"experiments":[164],"custom":[167],"two-stage":[168],"battery-powered":[169],"quadcopter.":[170],"This":[171],"quadcopter":[172],"can":[173],"eject":[174],"battery":[176],"stage":[177],"consumption":[179],"using":[181,188,215],"custom-designed":[183],"mechanism,":[184],"continue":[186],"hovering":[187],"next":[190],"stage.":[191,226],"The":[192],"experimental":[193],"times":[195],"match":[196],"well":[197],"those":[199],"predicted":[200],"from":[201],"our":[205],"vehicle.":[206],"achieve":[208],"19%":[210],"increase":[211],"compared":[222],"single":[225]},"counts_by_year":[{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}