{"id":"https://openalex.org/W2953352351","doi":"https://doi.org/10.1109/lra.2019.2921507","title":"SailMAV: Design and Implementation of a Novel Multi-Modal Flying Sailing Robot","display_name":"SailMAV: Design and Implementation of a Novel Multi-Modal Flying Sailing Robot","publication_year":2019,"publication_date":"2019-06-11","ids":{"openalex":"https://openalex.org/W2953352351","doi":"https://doi.org/10.1109/lra.2019.2921507","mag":"2953352351"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2921507","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2921507","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/A5019559482","display_name":"Raphael Zufferey","orcid":"https://orcid.org/0000-0002-8722-6664"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Raphael Zufferey","raw_affiliation_strings":["Aerial Robotics Laboratory, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-8722-6664","affiliations":[{"raw_affiliation_string":"Aerial Robotics Laboratory, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032380073","display_name":"Alejandro Ortega Ancel","orcid":"https://orcid.org/0000-0002-6433-4179"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alejandro Ortega Ancel","raw_affiliation_strings":["Aerial Robotics Laboratory, Imperial College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerial Robotics Laboratory, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084246983","display_name":"Celia Raposo","orcid":"https://orcid.org/0000-0003-3062-3017"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Celia Raposo","raw_affiliation_strings":["Aerial Robotics Laboratory, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-3062-3017","affiliations":[{"raw_affiliation_string":"Aerial Robotics Laboratory, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029695395","display_name":"Sophie F. Armanini","orcid":"https://orcid.org/0000-0002-8792-7233"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sophie Franziska Armanini","raw_affiliation_strings":["Aerial Robotics Laboratory, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-8792-7233","affiliations":[{"raw_affiliation_string":"Aerial Robotics Laboratory, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041253769","display_name":"Andr\u00e9 Farinha","orcid":"https://orcid.org/0000-0002-8211-9114"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andre Farinha","raw_affiliation_strings":["Aerial Robotics Laboratory, Imperial College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerial Robotics Laboratory, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020679005","display_name":"Robert Siddall","orcid":"https://orcid.org/0000-0002-2151-2860"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Robert Siddall","raw_affiliation_strings":["Aerial Robotics Laboratory, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-2151-2860","affiliations":[{"raw_affiliation_string":"Aerial Robotics Laboratory, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013498860","display_name":"Ion Berasaluce","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ion Berasaluce","raw_affiliation_strings":["Aerial Robotics Laboratory, Imperial College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerial Robotics Laboratory, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112449366","display_name":"Haijun Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Haijun Zhu","raw_affiliation_strings":["Aerial Robotics Laboratory, Imperial College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerial Robotics Laboratory, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033366097","display_name":"Mirko Kova\u010d","orcid":"https://orcid.org/0000-0002-9720-2463"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mirko Kovac","raw_affiliation_strings":["Aerial Robotics Laboratory, Imperial College London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aerial Robotics Laboratory, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":4.288,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.93899954,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"4","issue":"3","first_page":"2894","last_page":"2901"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9955000281333923,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9909999966621399,"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/wingspan","display_name":"Wingspan","score":0.8758071660995483},{"id":"https://openalex.org/keywords/takeoff","display_name":"Takeoff","score":0.6816059350967407},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.561198353767395},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.45937761664390564},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4449625611305237},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.43488478660583496},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4328826367855072},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.41806453466415405},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3766544759273529},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.3600791096687317},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3366849422454834},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3337930738925934},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2964153289794922},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2645724415779114}],"concepts":[{"id":"https://openalex.org/C17733824","wikidata":"https://www.wikidata.org/wiki/Q245097","display_name":"Wingspan","level":3,"score":0.8758071660995483},{"id":"https://openalex.org/C2777717826","wikidata":"https://www.wikidata.org/wiki/Q854248","display_name":"Takeoff","level":2,"score":0.6816059350967407},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.561198353767395},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.45937761664390564},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4449625611305237},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.43488478660583496},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4328826367855072},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.41806453466415405},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3766544759273529},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.3600791096687317},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3366849422454834},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3337930738925934},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2964153289794922},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2645724415779114},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2019.2921507","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2921507","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"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/85820","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/85820","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2901","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8100000023841858}],"awards":[{"id":"https://openalex.org/G1521175689","display_name":null,"funder_award_id":"EP/N009061/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G2838024195","display_name":"UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management","funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G3287989763","display_name":null,"funder_award_id":"EP/R009953/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5236561759","display_name":"EPSRC Centre for Doctoral Training in Fluid Dynamics across Scales","funder_award_id":"EP/L016230/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6122518065","display_name":"Five NPIF projects have been selected that will join the Quantitative and Modelling Skills in Ecology and Evolution (QMEE) CDT","funder_award_id":"NE/R012229/1","funder_id":"https://openalex.org/F4320334631","funder_display_name":"Natural Environment Research Council"},{"id":"https://openalex.org/G8347234532","display_name":null,"funder_award_id":"EP/N018494/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G903155191","display_name":"CASCADE (Complex Autonomous aircraft Systems Configuration, Analysis and Design Exploratory)","funder_award_id":"EP/R009953/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320334631","display_name":"Natural Environment Research Council","ror":"https://ror.org/02b5d8509"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W36380676","https://openalex.org/W254162478","https://openalex.org/W600093897","https://openalex.org/W1956244631","https://openalex.org/W1980946215","https://openalex.org/W1990176070","https://openalex.org/W2025766927","https://openalex.org/W2072094721","https://openalex.org/W2150476278","https://openalex.org/W2156929871","https://openalex.org/W2541583107","https://openalex.org/W2558693562","https://openalex.org/W2587335294","https://openalex.org/W2772013523","https://openalex.org/W2790429190","https://openalex.org/W2793128170","https://openalex.org/W2891144584","https://openalex.org/W2896810060","https://openalex.org/W2897492203","https://openalex.org/W2966957973","https://openalex.org/W6601468660","https://openalex.org/W6618112818","https://openalex.org/W6767269372"],"related_works":["https://openalex.org/W2379975046","https://openalex.org/W2351766947","https://openalex.org/W4385984321","https://openalex.org/W2471779853","https://openalex.org/W2378910326","https://openalex.org/W2092183090","https://openalex.org/W2358895668","https://openalex.org/W2086030686","https://openalex.org/W1973884763","https://openalex.org/W260408677"],"abstract_inverted_index":{"Despite":[0],"significant":[1],"research":[2],"progress":[3],"on":[4],"small-scale":[5],"aerial\u2013aquatic":[6,53],"robots,":[7],"most":[8],"existing":[9],"prototypes":[10],"are":[11,190],"still":[12],"constrained":[13],"by":[14,89],"short":[15],"operation":[16],"times":[17],"and":[18,41,75,82,111,146,165,199,216,224],"limited":[19],"performance":[20],"in":[21,128],"different":[22],"fluids.":[23],"The":[24,77,184],"main":[25,185],"challenge":[26],"is":[27,70,155],"to":[28,62,118,193,243],"design":[29,37,79,203,235],"a":[30,49,63,106,134,168,205],"vehicle":[31,221],"that":[32,239],"satisfies":[33],"the":[34,55,68,86,91,99,140,143,194,202,209,212,217,220,228,234],"partially":[35],"conflicting":[36],"requirements":[38],"for":[39,103,125,149,152],"aerial":[40,198],"aquatic":[42,200],"operations.":[43],"In":[44],"this":[45,188],"letter":[46,189,231],"we":[47],"present":[48],"new":[50,191],"class":[51],"of":[52,72,101,116,137,157,171,187,196,204,211,219,236],"robot,":[54],"sailing":[56,150,223],"micro":[57],"air":[58],"vehicle,":[59],"\u201cSailMAV.\u201d":[60],"Thanks":[61],"three-part":[64],"folding":[65],"wing":[66,145],"design,":[67],"SailMAV":[69,141],"capable":[71,156],"both":[73],"flying":[74],"sailing.":[76],"robot":[78],"permits":[80],"long":[81],"targeted":[83],"missions":[84],"at":[85,167],"water":[87,117,126,158],"interface":[88],"leveraging":[90],"wind":[92],"as":[93,151,161,163],"movement":[94],"vector.":[95],"It":[96,154],"simultaneously":[97],"offers":[98],"flexibility":[100],"flight":[102,166],"rapidly":[104],"reaching":[105],"designated":[107],"area,":[108],"overcoming":[109],"obstacles,":[110],"moving":[112],"from":[113,227],"one":[114],"body":[115],"another,":[119],"which":[120],"can":[121,232],"be":[122],"very":[123],"useful":[124],"sampling":[127],"areas":[129],"with":[130],"many":[131],"obstacles.":[132],"With":[133],"total":[135],"wingspan":[136],"0.96":[138],"m,":[139],"employs":[142],"same":[144],"actuation":[147],"surfaces":[148],"flying.":[153],"surface":[159],"locomotion":[160],"well":[162],"takeoff":[164],"cruising":[169],"speed":[170],"10.8":[172],"m":[173],"<inline-formula":[174,179],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[175,180],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[176,181],"notation=\"LaTeX\">$\\cdot$</tex-math></inline-formula>":[177],"s":[178],"notation=\"LaTeX\">$^{-1}$</tex-math></inline-formula>":[182],".":[183],"contributions":[186],"solutions":[192],"challenges":[195],"combined":[197],"locomotions,":[201],"novel":[206],"hybrid":[207,237],"concept,":[208],"development":[210],"required":[213],"control":[214],"laws,":[215],"demonstration":[218],"successfully":[222],"taking":[225],"off":[226],"water.":[229],"This":[230],"inform":[233],"vehicles":[238],"adapt":[240],"their":[241],"morphology":[242],"move":[244],"effectively.":[245]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-07T14:30:12.667765","created_date":"2025-10-10T00:00:00"}