{"id":"https://openalex.org/W2789410150","doi":"https://doi.org/10.1109/lra.2018.2800119","title":"Visual Inertial Odometry Swarm: An Autonomous Swarm of Vision-Based Quadrotors","display_name":"Visual Inertial Odometry Swarm: An Autonomous Swarm of Vision-Based Quadrotors","publication_year":2018,"publication_date":"2018-01-31","ids":{"openalex":"https://openalex.org/W2789410150","doi":"https://doi.org/10.1109/lra.2018.2800119","mag":"2789410150"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2800119","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2800119","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-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/A5042091799","display_name":"Aaron Weinstein","orcid":"https://orcid.org/0000-0001-8704-6279"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Aaron Weinstein","raw_affiliation_strings":["General Robotics, Automation, Sensing, and Perception Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"General Robotics, Automation, Sensing, and Perception Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020484785","display_name":"Adam Cho","orcid":"https://orcid.org/0000-0002-8838-9078"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adam Cho","raw_affiliation_strings":["General Robotics, Automation, Sensing, and Perception Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"General Robotics, Automation, Sensing, and Perception Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077485450","display_name":"Giuseppe Loianno","orcid":"https://orcid.org/0000-0002-3263-5401"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Giuseppe Loianno","raw_affiliation_strings":["General Robotics, Automation, Sensing, and Perception Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"General Robotics, Automation, Sensing, and Perception Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["General Robotics, Automation, Sensing, and Perception Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"General Robotics, Automation, Sensing, and Perception Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5042091799"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":123.3604,"has_fulltext":false,"cited_by_count":116,"citation_normalized_percentile":{"value":0.99939254,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"3","issue":"3","first_page":"1801","last_page":"1807"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9968000054359436,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9918000102043152,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8589094281196594},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7416924834251404},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7220854759216309},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6775873899459839},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6696707606315613},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6612024307250977},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6410355567932129},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.6095121502876282},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6019500494003296},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4460422396659851},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4335249364376068},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4170284867286682},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3654000759124756},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.311427503824234}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8589094281196594},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7416924834251404},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7220854759216309},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6775873899459839},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6696707606315613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6612024307250977},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6410355567932129},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.6095121502876282},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6019500494003296},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4460422396659851},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4335249364376068},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4170284867286682},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3654000759124756},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.311427503824234},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2800119","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2800119","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.6399999856948853}],"awards":[{"id":"https://openalex.org/G2814811871","display_name":null,"funder_award_id":"W911NF-08-2-0004","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"},{"id":"https://openalex.org/G2854993585","display_name":null,"funder_award_id":"N00014-14-1-0510","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G3486978346","display_name":null,"funder_award_id":"HR001151626","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G5397883260","display_name":null,"funder_award_id":"W911NF-13-1-0350","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G5689811493","display_name":null,"funder_award_id":"W911NF-17-2-0181","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"},{"id":"https://openalex.org/G5994615915","display_name":null,"funder_award_id":"N00014-07-1-0829","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G719284172","display_name":null,"funder_award_id":"HR0011516850","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"}],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1516539966","https://openalex.org/W1876455185","https://openalex.org/W1941749034","https://openalex.org/W1964462572","https://openalex.org/W2037971631","https://openalex.org/W2057658519","https://openalex.org/W2065894019","https://openalex.org/W2132453268","https://openalex.org/W2162991084","https://openalex.org/W2205407818","https://openalex.org/W2287046280","https://openalex.org/W2396584467","https://openalex.org/W2544041682","https://openalex.org/W2557430988","https://openalex.org/W2567206329","https://openalex.org/W2590852890","https://openalex.org/W2600080636","https://openalex.org/W2613683354","https://openalex.org/W2726634552","https://openalex.org/W6739761764"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W4233987368","https://openalex.org/W2414561716","https://openalex.org/W3024737167","https://openalex.org/W65954170","https://openalex.org/W1988876749","https://openalex.org/W2518382144","https://openalex.org/W2350154411"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"we":[3],"present":[4],"the":[5,73,81,89],"system":[6,28,38,74],"infrastructure":[7],"for":[8,80],"a":[9,26],"swarm":[10,52],"of":[11,69,88],"quadrotors,":[12],"which":[13],"perform":[14],"all":[15],"estimation":[16],"on":[17],"board":[18],"using":[19],"monocular":[20],"visual":[21],"inertial":[22],"odometry.":[23],"This":[24],"is":[25,42,64,91],"novel":[27],"since":[29],"it":[30],"does":[31],"not":[32],"require":[33],"an":[34],"external":[35],"motion":[36],"capture":[37],"or":[39,60],"GPS":[40],"and":[41,63,78,86,96],"able":[43],"to":[44,66,101],"execute":[45],"formation":[46],"tasks":[47],"without":[48],"inter-robot":[49],"collisions.":[50],"The":[51,84],"can":[53],"be":[54],"deployed":[55],"in":[56,93],"nearly":[57],"any":[58],"indoor":[59,95],"outdoor":[61,97],"scenario":[62],"scalable":[65],"higher":[67],"numbers":[68],"robots.":[70],"We":[71],"discuss":[72],"architecture,":[75],"estimation,":[76],"planning,":[77],"control":[79],"multirobot":[82],"system.":[83],"robustness":[85],"scalability":[87],"approach":[90],"validated":[92],"both":[94],"environments":[98],"with":[99],"up":[100],"12":[102],"quadrotors.":[103]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":24},{"year":2020,"cited_by_count":22},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":5}],"updated_date":"2026-03-30T08:08:38.191290","created_date":"2025-10-10T00:00:00"}