{"id":"https://openalex.org/W3108996023","doi":"https://doi.org/10.1109/jas.2020.1003530","title":"Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor: System, Algorithms, and Experiments","display_name":"Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor: System, Algorithms, and Experiments","publication_year":2020,"publication_date":"2020-11-25","ids":{"openalex":"https://openalex.org/W3108996023","doi":"https://doi.org/10.1109/jas.2020.1003530","mag":"3108996023"},"language":"en","primary_location":{"id":"doi:10.1109/jas.2020.1003530","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2020.1003530","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.rug.nl/en/publications/05ecc6e3-93c5-4702-9407-532bcaa199d3","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103326382","display_name":"Yuzhen Liu","orcid":"https://orcid.org/0000-0001-5519-9916"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuzhen Liu","raw_affiliation_strings":["Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101749757","display_name":"Ziyang Meng","orcid":"https://orcid.org/0000-0003-4094-8501"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyang Meng","raw_affiliation_strings":["Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007266631","display_name":"Yao Zou","orcid":"https://orcid.org/0000-0002-7579-3813"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Zou","raw_affiliation_strings":["School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021403340","display_name":"Ming Cao","orcid":"https://orcid.org/0000-0001-5472-562X"},"institutions":[{"id":"https://openalex.org/I169381384","display_name":"University of Groningen","ror":"https://ror.org/012p63287","country_code":"NL","type":"education","lineage":["https://openalex.org/I169381384"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Ming Cao","raw_affiliation_strings":["Institute of Engineering and Technology, University of Groningen, Groningen, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Institute of Engineering and Technology, University of Groningen, Groningen, The Netherlands","institution_ids":["https://openalex.org/I169381384"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103326382"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":2.0608,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.89364425,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":"2","first_page":"344","last_page":"360"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9983999729156494,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9983999729156494,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9950000047683716,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.992900013923645,"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":0.8680661916732788},{"id":"https://openalex.org/keywords/video-tracking","display_name":"Video tracking","score":0.7392435669898987},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6908964514732361},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6466593742370605},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6237569451332092},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5901553630828857},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5140255689620972},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.490968257188797},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.4774806499481201},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42385411262512207},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.287221223115921},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.2636316120624542},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.1637595295906067},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14547184109687805}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8680661916732788},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.7392435669898987},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6908964514732361},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6466593742370605},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6237569451332092},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5901553630828857},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5140255689620972},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.490968257188797},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.4774806499481201},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42385411262512207},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.287221223115921},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2636316120624542},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.1637595295906067},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14547184109687805},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/jas.2020.1003530","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2020.1003530","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-article"},{"id":"pmh:oai:pure.rug.nl:openaire/05ecc6e3-93c5-4702-9407-532bcaa199d3","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/05ecc6e3-93c5-4702-9407-532bcaa199d3","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Liu, Y, Meng, Z, Zou, Y & Cao, M 2021, 'Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor : System, Algorithms, and Experiments', IEEE/CAA Journal of Automatica Sinica, vol. 8, no. 2, 9269525, pp. 344-360. https://doi.org/10.1109/JAS.2020.1003530","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.rug.nl:publications/05ecc6e3-93c5-4702-9407-532bcaa199d3","is_oa":true,"landing_page_url":"https://hdl.handle.net/11370/05ecc6e3-93c5-4702-9407-532bcaa199d3","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Liu, Y, Meng, Z, Zou, Y & Cao, M 2021, 'Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor : System, Algorithms, and Experiments', IEEE/CAA Journal of Automatica Sinica, vol. 8, no. 2, 9269525, pp. 344-360. https://doi.org/10.1109/JAS.2020.1003530","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.rug.nl:openaire/05ecc6e3-93c5-4702-9407-532bcaa199d3","is_oa":true,"landing_page_url":"https://research.rug.nl/en/publications/05ecc6e3-93c5-4702-9407-532bcaa199d3","pdf_url":null,"source":{"id":"https://openalex.org/S4306400420","display_name":"University of Groningen research database (University of Groningen / Centre for Information Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169381384","host_organization_name":"University of Groningen","host_organization_lineage":["https://openalex.org/I169381384"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Liu, Y, Meng, Z, Zou, Y & Cao, M 2021, 'Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor : System, Algorithms, and Experiments', IEEE/CAA Journal of Automatica Sinica, vol. 8, no. 2, 9269525, pp. 344-360. https://doi.org/10.1109/JAS.2020.1003530","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3196824279","display_name":null,"funder_award_id":"U19B2029,62073028,61803222","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W7746136","https://openalex.org/W161114242","https://openalex.org/W1518672027","https://openalex.org/W1521464635","https://openalex.org/W1804004455","https://openalex.org/W1877037047","https://openalex.org/W1964846093","https://openalex.org/W1969064048","https://openalex.org/W1971198773","https://openalex.org/W1973734421","https://openalex.org/W1978687961","https://openalex.org/W1986045690","https://openalex.org/W1999558720","https://openalex.org/W2033470618","https://openalex.org/W2037467395","https://openalex.org/W2080868110","https://openalex.org/W2082991751","https://openalex.org/W2084447079","https://openalex.org/W2090167557","https://openalex.org/W2109579504","https://openalex.org/W2115106602","https://openalex.org/W2124211486","https://openalex.org/W2139241879","https://openalex.org/W2154889144","https://openalex.org/W2158592639","https://openalex.org/W2273403121","https://openalex.org/W2323305715","https://openalex.org/W2343187456","https://openalex.org/W2470487727","https://openalex.org/W2498335660","https://openalex.org/W2520477759","https://openalex.org/W2525538692","https://openalex.org/W2526378953","https://openalex.org/W2569014801","https://openalex.org/W2702812625","https://openalex.org/W2735247743","https://openalex.org/W2755486527","https://openalex.org/W2755898301","https://openalex.org/W2772133881","https://openalex.org/W2806070179","https://openalex.org/W2908287827","https://openalex.org/W2944575527","https://openalex.org/W2953297110","https://openalex.org/W2954378215","https://openalex.org/W2986829171","https://openalex.org/W4293584584","https://openalex.org/W6600313631","https://openalex.org/W6638168005","https://openalex.org/W6639374648","https://openalex.org/W6720468800","https://openalex.org/W6723669821"],"related_works":["https://openalex.org/W2394134009","https://openalex.org/W1971984615","https://openalex.org/W2806679586","https://openalex.org/W2046099857","https://openalex.org/W4315836311","https://openalex.org/W2393252924","https://openalex.org/W2318603563","https://openalex.org/W2787600244","https://openalex.org/W2186532442","https://openalex.org/W4285271403"],"abstract_inverted_index":{"There":[0],"are":[1,167],"two":[2],"main":[3],"trends":[4],"in":[5,17,126],"the":[6,30,111,122,140,171,177],"development":[7],"of":[8,29,176],"unmanned":[9],"aerial":[10],"vehicle":[11],"(UAV)":[12],"technologies:":[13],"miniaturization":[14],"and":[15,43,65,103,120,152,156,174],"intellectualization,":[16],"which":[18,96],"realizing":[19],"object":[20,41,62,83,88,118,158],"tracking":[21,42,63,89,101,124,145,159,179],"capabilities":[22],"for":[23,139],"a":[24,39,48,66,86,98,127,131],"nano-scale":[25,52],"UAV":[26],"is":[27,58,70,94,137,147,160],"one":[28],"most":[31],"challenging":[32],"problems.":[33],"In":[34,77,109],"this":[35],"paper,":[36],"we":[37],"present":[38],"visual":[40,56,133],"servoing":[44,134],"control":[45,135],"system":[46],"utilizing":[47],"tailor-made":[49],"38":[50],"g":[51],"quadrotor.":[53],"A":[54],"lightweight":[55],"module":[57,102,114],"integrated":[59],"to":[60,72,79,169],"enable":[61],"capabilities,":[64],"micro":[67],"positioning":[68],"deck":[69],"mounted":[71],"provide":[73,116],"accurate":[74,157],"pose":[75],"estimation.":[76],"order":[78],"be":[80],"robust":[81],"against":[82],"appearance":[84],"variations,":[85],"novel":[87],"algorithm,":[90],"denoted":[91],"by":[92,149],"RMCTer,":[93],"proposed,":[95],"integrates":[97],"powerful":[99],"short-term":[100,123],"an":[104,143],"efficient":[105],"long-term":[106,112],"processing":[107,113],"module.":[108],"particular,":[110],"can":[115],"additional":[117],"information":[119],"modify":[121],"model":[125],"timely":[128],"manner.":[129],"Furthermore,":[130],"position-based":[132],"method":[136],"proposed":[138],"quadrotor,":[141],"where":[142],"adaptive":[144,153],"controller":[146],"designed":[148],"leveraging":[150],"backstepping":[151],"techniques.":[154],"Stable":[155],"achieved":[161],"even":[162],"under":[163],"disturbances.":[164],"Experimental":[165],"results":[166],"presented":[168],"demonstrate":[170],"high":[172],"accuracy":[173],"stability":[175],"whole":[178],"system.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}