{"id":"https://openalex.org/W4389667820","doi":"https://doi.org/10.1109/iros55552.2023.10341984","title":"DoubleBee: A Hybrid Aerial-Ground Robot with Two Active Wheels","display_name":"DoubleBee: A Hybrid Aerial-Ground Robot with Two Active Wheels","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667820","doi":"https://doi.org/10.1109/iros55552.2023.10341984"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5024662281","display_name":"Muqing Cao","orcid":"https://orcid.org/0000-0002-0352-6548"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Muqing Cao","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030834052","display_name":"Xinhang Xu","orcid":"https://orcid.org/0009-0006-0308-9540"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xinhang Xu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026848789","display_name":"Shenghai Yuan","orcid":"https://orcid.org/0009-0003-1887-6342"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shenghai Yuan","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101436339","display_name":"Kun Cao","orcid":"https://orcid.org/0000-0003-4688-1096"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kun Cao","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073973915","display_name":"Kangcheng Liu","orcid":"https://orcid.org/0000-0002-8387-3565"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kangcheng Liu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5024662281"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":3.1271,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.93552424,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6962","last_page":"6969"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/traverse","display_name":"Traverse","score":0.6869162321090698},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6753594875335693},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.6671402454376221},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.633234441280365},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5944335460662842},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.536486029624939},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.4543752372264862},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4531545639038086},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.4472877085208893},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4458513855934143},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4412579834461212},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.43872037529945374},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.4377235174179077},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4360070526599884},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42315584421157837},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2976419925689697},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18310141563415527},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14883366227149963},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1202058494091034}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.6869162321090698},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6753594875335693},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.6671402454376221},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.633234441280365},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5944335460662842},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.536486029624939},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.4543752372264862},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4531545639038086},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.4472877085208893},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4458513855934143},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4412579834461212},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.43872037529945374},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4377235174179077},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4360070526599884},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42315584421157837},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2976419925689697},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18310141563415527},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14883366227149963},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1202058494091034},{"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4399999976158142}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320766","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1496729756","https://openalex.org/W2007466149","https://openalex.org/W2036475957","https://openalex.org/W2085635066","https://openalex.org/W2095514019","https://openalex.org/W2744464459","https://openalex.org/W2772761907","https://openalex.org/W2910924372","https://openalex.org/W2953109067","https://openalex.org/W2968917438","https://openalex.org/W3003464919","https://openalex.org/W3006766814","https://openalex.org/W3008672204","https://openalex.org/W3033191309","https://openalex.org/W3054599486","https://openalex.org/W3100874234","https://openalex.org/W3110514869","https://openalex.org/W3126895580","https://openalex.org/W3133425731","https://openalex.org/W3197713130","https://openalex.org/W3203378087","https://openalex.org/W4200206909","https://openalex.org/W4213426898","https://openalex.org/W4226270516","https://openalex.org/W4285742942"],"related_works":["https://openalex.org/W2365191442","https://openalex.org/W2491036639","https://openalex.org/W2359834440","https://openalex.org/W2374143010","https://openalex.org/W3086276429","https://openalex.org/W2390827194","https://openalex.org/W4393405832","https://openalex.org/W2049051459","https://openalex.org/W2074969456","https://openalex.org/W2330793693"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"the":[5,32,45,55,58,67,76,79,86,107,111,126],"dynamic":[6],"model":[7],"and":[8,26,43,85,106,122,136,140,143],"control":[9,64,73,108],"of":[10,18,36,49,78,95,110,128],"DoubleBee,":[11],"a":[12,37,50,70],"novel":[13,71],"hybrid":[14],"aerial-ground":[15],"vehicle":[16],"consisting":[17],"two":[19,27],"propellers":[20],"mounted":[21],"on":[22,54,66],"tilting":[23],"servo":[24],"motors":[25],"motor-driven":[28],"wheels.":[29,92],"DoubleBee":[30,96,129],"exploits":[31],"high":[33],"energy":[34],"efficiency":[35,105],"bicopter":[38],"configuration":[39],"in":[40,120],"aerial":[41],"mode,":[42],"enjoys":[44],"low":[46],"power":[47,104],"consumption":[48],"two-wheel":[51],"self-balancing":[52],"robot":[53,80,112],"ground.":[56],"Furthermore,":[57],"propeller":[59],"thrusts":[60,84],"act":[61],"as":[62],"additional":[63],"inputs":[65],"ground,":[68],"enabling":[69],"decoupled":[72],"scheme":[74],"where":[75],"attitude":[77],"is":[81,89,97],"controlled":[82],"using":[83,91,99],"translational":[87],"motion":[88],"realized":[90],"A":[93],"prototype":[94],"constructed":[98],"commercially":[100],"available":[101],"components.":[102],"The":[103],"performance":[109],"are":[113],"verified":[114],"through":[115],"comprehensive":[116],"experiments.":[117],"Challenging":[118],"tasks":[119],"indoor":[121],"outdoor":[123],"environments":[124],"demonstrate":[125],"capability":[127],"to":[130],"traverse":[131],"unstructured":[132],"environments,":[133],"fly":[134],"over":[135],"move":[137],"under":[138],"barriers,":[139],"climb":[141],"steep":[142],"rough":[144],"terrains.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
