{"id":"https://openalex.org/W4312595768","doi":"https://doi.org/10.1109/iros47612.2022.9982063","title":"A Method For Automated Drone Viewpoints to Support Remote Robot Manipulation","display_name":"A Method For Automated Drone Viewpoints to Support Remote Robot Manipulation","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312595768","doi":"https://doi.org/10.1109/iros47612.2022.9982063"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982063","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5066283584","display_name":"Emmanuel Senft","orcid":"https://orcid.org/0000-0001-7160-4352"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Emmanuel Senft","raw_affiliation_strings":["University of Wisconsin-Madison,Department of Computer Sciences,Madison,USA,53706"],"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Department of Computer Sciences,Madison,USA,53706","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052368316","display_name":"Michael Hagenow","orcid":"https://orcid.org/0000-0002-4532-2949"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Hagenow","raw_affiliation_strings":["University of Wisconsin-Madison,Department of Mechanical Engineering,Madison,USA,53706"],"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Department of Mechanical Engineering,Madison,USA,53706","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080003751","display_name":"Pragathi Praveena","orcid":"https://orcid.org/0000-0002-8696-6265"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pragathi Praveena","raw_affiliation_strings":["University of Wisconsin-Madison,Department of Computer Sciences,Madison,USA,53706"],"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Department of Computer Sciences,Madison,USA,53706","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062951506","display_name":"Robert G. Radwin","orcid":"https://orcid.org/0000-0002-7973-0641"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert Radwin","raw_affiliation_strings":["University of Wisconsin-Madison,Department of Industrial and Systems Engineering,Madison,USA,53706"],"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Department of Industrial and Systems Engineering,Madison,USA,53706","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088739855","display_name":"Michael Zinn","orcid":"https://orcid.org/0000-0002-6815-5899"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Zinn","raw_affiliation_strings":["University of Wisconsin-Madison,Department of Mechanical Engineering,Madison,USA,53706"],"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Department of Mechanical Engineering,Madison,USA,53706","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084778474","display_name":"Michael Gleicher","orcid":"https://orcid.org/0000-0003-3295-4071"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Gleicher","raw_affiliation_strings":["University of Wisconsin-Madison,Department of Computer Sciences,Madison,USA,53706"],"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Department of Computer Sciences,Madison,USA,53706","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017344436","display_name":"Bilge Mutlu","orcid":"https://orcid.org/0000-0002-9456-1495"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bilge Mutlu","raw_affiliation_strings":["University of Wisconsin-Madison,Department of Computer Sciences,Madison,USA,53706"],"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,Department of Computer Sciences,Madison,USA,53706","institution_ids":["https://openalex.org/I135310074"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5066283584"],"corresponding_institution_ids":["https://openalex.org/I135310074"],"apc_list":null,"apc_paid":null,"fwci":1.669,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.86743663,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"7704","last_page":"7711"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994999766349792,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.933720588684082},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8733673095703125},{"id":"https://openalex.org/keywords/viewpoints","display_name":"Viewpoints","score":0.8171706199645996},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6658017635345459},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5761144161224365},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5514345765113831},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5419401526451111},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5158550143241882},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4843679368495941},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46560508012771606},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3249954283237457},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20551735162734985},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.14077746868133545}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.933720588684082},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8733673095703125},{"id":"https://openalex.org/C2776035091","wikidata":"https://www.wikidata.org/wiki/Q7928819","display_name":"Viewpoints","level":2,"score":0.8171706199645996},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6658017635345459},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5761144161224365},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5514345765113831},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5419401526451111},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5158550143241882},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4843679368495941},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46560508012771606},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3249954283237457},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20551735162734985},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.14077746868133545},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982063","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1804322400","https://openalex.org/W1989823960","https://openalex.org/W1990871591","https://openalex.org/W1999103409","https://openalex.org/W2001104271","https://openalex.org/W2013645511","https://openalex.org/W2018779169","https://openalex.org/W2029523166","https://openalex.org/W2109953164","https://openalex.org/W2152864241","https://openalex.org/W2153062547","https://openalex.org/W2155188066","https://openalex.org/W2167501464","https://openalex.org/W2203344779","https://openalex.org/W2299529128","https://openalex.org/W2310510117","https://openalex.org/W2405114316","https://openalex.org/W2736730865","https://openalex.org/W2766969817","https://openalex.org/W2767048994","https://openalex.org/W2782655722","https://openalex.org/W2898231767","https://openalex.org/W2927869062","https://openalex.org/W2966389065","https://openalex.org/W2980482539","https://openalex.org/W2981114166","https://openalex.org/W2991618731","https://openalex.org/W2995631498","https://openalex.org/W3002590034","https://openalex.org/W3045250067","https://openalex.org/W3155850785","https://openalex.org/W3158989748","https://openalex.org/W3159104853","https://openalex.org/W3194176109","https://openalex.org/W4220687304","https://openalex.org/W4236881204","https://openalex.org/W6705069261","https://openalex.org/W6749738678","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2385368906","https://openalex.org/W4229448053","https://openalex.org/W2902924992","https://openalex.org/W2626642044","https://openalex.org/W93537448","https://openalex.org/W4247925126","https://openalex.org/W2619807045","https://openalex.org/W2388758053","https://openalex.org/W2949734191","https://openalex.org/W2559957734"],"abstract_inverted_index":{"Drones":[0],"can":[1,16],"provide":[2,89,154,170],"a":[3,40,56,90,135,163],"minimally-constrained":[4],"adapting":[5],"camera":[6],"view":[7,15,45,136],"to":[8,19,74,112,117,129],"support":[9],"robot":[10],"telemanipulation.":[11],"Furthermore,":[12],"the":[13,21,24,51,62,83,138,145],"drone":[14,41,52,78,99,122,142,159],"be":[17],"automated":[18,44],"reduce":[20],"burden":[22],"on":[23,34,147],"operator":[25],"during":[26],"teleoperation.":[27],"However,":[28],"existing":[29],"approaches":[30],"do":[31],"not":[32],"focus":[33],"two":[35],"important":[36],"aspects":[37],"of":[38,58,67,137,157,174],"using":[39],"as":[42],"an":[43,68,104,155,171],"provider.":[46],"The":[47,70],"first":[48,108],"is":[49,72,111,128],"how":[50,73],"should":[53],"select":[54],"from":[55],"range":[57],"quality":[59],"viewpoints":[60,100],"within":[61,162],"workspace":[63],"(e.g.,":[64],"opposite":[65],"sides":[66],"object).":[69],"second":[71,125],"compensate":[75],"for":[76,101],"unavoidable":[77],"pose":[79],"uncertainty":[80,143],"in":[81,177],"determining":[82],"viewpoint.":[84],"In":[85],"this":[86],"paper,":[87],"we":[88,169,180],"nonlinear":[91],"optimization":[92,131],"method":[93,161,176],"that":[94,133],"yields":[95],"effective":[96],"and":[97,144,150,184],"adaptive":[98],"telemanipulation":[102],"with":[103],"articulated":[105],"manipulator.":[106],"Our":[107,124],"key":[109,126],"idea":[110,127],"use":[113],"sparse":[114],"human-in-the-loop":[115],"input":[116],"toggle":[118],"between":[119],"multiple":[120],"automatically-generated":[121],"viewpoints.":[123],"introduce":[130],"objectives":[132],"maintain":[134],"manipulator":[139],"while":[140],"considering":[141],"impact":[146],"viewpoint":[148,160],"occlusion":[149],"environment":[151],"collisions.":[152],"We":[153],"instantiation":[156],"our":[158,175],"drone-manipulator":[164],"remote":[165],"teleoperation":[166],"system.":[167],"Finally,":[168],"initial":[172],"validation":[173],"tasks":[178],"where":[179],"complete":[181],"common":[182],"household":[183],"industrial":[185],"manipulations.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}