{"id":"https://openalex.org/W3008672204","doi":"https://doi.org/10.1109/lra.2020.2974718","title":"Gemini: A Compact yet Efficient Bi-copter UAV for Indoor Applications","display_name":"Gemini: A Compact yet Efficient Bi-copter UAV for Indoor Applications","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3008672204","doi":"https://doi.org/10.1109/lra.2020.2974718","mag":"3008672204"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2974718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2974718","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/A5074165793","display_name":"Youming Qin","orcid":"https://orcid.org/0000-0002-9057-2461"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Youming Qin","raw_affiliation_strings":["Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040761750","display_name":"Wei Xu","orcid":"https://orcid.org/0000-0001-8005-4372"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wei Xu","raw_affiliation_strings":["Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041977512","display_name":"Adrian V. Lee","orcid":"https://orcid.org/0000-0001-9917-514X"},"institutions":[{"id":"https://openalex.org/I84218800","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69","country_code":"US","type":"education","lineage":["https://openalex.org/I84218800"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adrian Lee","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, Davis, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, Davis, USA","institution_ids":["https://openalex.org/I84218800"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100460011","display_name":"Fu Zhang","orcid":"https://orcid.org/0000-0002-8636-4168"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fu Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":83.2074,"has_fulltext":false,"cited_by_count":97,"citation_normalized_percentile":{"value":0.99860334,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"1"},"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":0.9991000294685364,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.8747919797897339},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7215815186500549},{"id":"https://openalex.org/keywords/propeller","display_name":"Propeller","score":0.6892798542976379},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5233874917030334},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4650828242301941},{"id":"https://openalex.org/keywords/ideal","display_name":"Ideal (ethics)","score":0.4571402668952942},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.44891107082366943},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4027148485183716},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3577723801136017},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.16749894618988037},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1616998016834259},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.081003338098526}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8747919797897339},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7215815186500549},{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.6892798542976379},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5233874917030334},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4650828242301941},{"id":"https://openalex.org/C2776639384","wikidata":"https://www.wikidata.org/wiki/Q840396","display_name":"Ideal (ethics)","level":2,"score":0.4571402668952942},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.44891107082366943},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4027148485183716},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3577723801136017},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.16749894618988037},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1616998016834259},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.081003338098526},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.2974718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2974718","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:repository.hkust.edu.hk:1783.1-159028","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-159028","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1508565833","https://openalex.org/W1909154603","https://openalex.org/W1969143646","https://openalex.org/W1972564531","https://openalex.org/W2019400639","https://openalex.org/W2044108413","https://openalex.org/W2093079549","https://openalex.org/W2095906130","https://openalex.org/W2103608534","https://openalex.org/W2145304633","https://openalex.org/W2162991084","https://openalex.org/W2183005511","https://openalex.org/W2297048240","https://openalex.org/W2462518014","https://openalex.org/W2467042364","https://openalex.org/W2558571059","https://openalex.org/W2614122538","https://openalex.org/W2621384129","https://openalex.org/W2648731534","https://openalex.org/W2758653969","https://openalex.org/W2772561355","https://openalex.org/W2783007554","https://openalex.org/W2806599356","https://openalex.org/W2809249257","https://openalex.org/W2905560833","https://openalex.org/W2919072858","https://openalex.org/W2923925643","https://openalex.org/W2968479790","https://openalex.org/W3003489492","https://openalex.org/W6675671719","https://openalex.org/W6681827446","https://openalex.org/W6697171460","https://openalex.org/W6759985703"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W4306309337","https://openalex.org/W4313563004","https://openalex.org/W20648474","https://openalex.org/W4288094128","https://openalex.org/W1548631123","https://openalex.org/W2583365469"],"abstract_inverted_index":{"Quad-copters":[0],"are":[1],"the":[2,48,53,61,72,76,81,109,113,124,133,138,142],"premier":[3],"platform":[4,111,139],"for":[5,60,119],"data":[6,14],"collection":[7],"tasks,":[8],"yet":[9,116],"their":[10,24],"ability":[11,160],"to":[12,23,161],"collect":[13],"in":[15],"indoor":[16,120],"narrow":[17],"spaces":[18],"is":[19,112],"severely":[20],"compromised":[21],"due":[22],"huge":[25],"size":[26],"when":[27],"carrying":[28],"heavy":[29],"sensors.":[30],"In":[31],"this":[32],"letter,":[33],"we":[34,68],"study":[35],"a":[36],"bi-copter":[37],"UAV":[38,77,127],"configuration":[39],"that":[40,67,108,157],"has":[41],"similar":[42],"levels":[43],"of":[44,63,75,136],"versatility":[45],"and":[46,88,103,153],"improves":[47],"compactness":[49],"or":[50],"efficiency":[51],"at":[52],"same":[54,82],"time.":[55],"Such":[56],"an":[57],"arrangement":[58],"allows":[59],"preservation":[62],"propeller":[64,144],"size,":[65],"meaning":[66],"can":[69,91],"effectively":[70],"reduce":[71],"horizontal":[73],"width":[74],"while":[78],"still":[79],"maintains":[80],"payload":[83],"capacity.":[84],"Furthermore,":[85],"pitch,":[86],"roll":[87],"yaw":[89],"control":[90],"also":[92,106],"be":[93],"achieved":[94],"through":[95,145],"mechanically":[96],"simple":[97],"means":[98],"as":[99],"well,":[100],"increasing":[101],"reliability":[102],"precision.":[104],"We":[105],"found":[107],"Gemini":[110],"most":[114],"power-efficient":[115],"practical":[117],"solution":[118],"applications":[121],"among":[122],"all":[123],"twelve":[125],"common":[126],"configurations.":[128],"This":[129],"letter":[130],"will":[131],"detail":[132],"entire":[134],"process":[135],"creating":[137],"from":[140],"picking":[141],"ideal":[143],"aerodynamic":[146],"analysis,":[147],"system":[148],"design,":[149],"optimization,":[150],"implementation,":[151],"control,":[152],"real":[154],"flight":[155],"tests":[156],"demonstrate":[158],"its":[159],"function":[162],"seamlessly.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":28},{"year":2023,"cited_by_count":21},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}