{"id":"https://openalex.org/W4395475412","doi":"https://doi.org/10.1109/lra.2024.3390596","title":"Fast Swarming of UAVs in GNSS-Denied Feature-Poor Environments Without Explicit Communication","display_name":"Fast Swarming of UAVs in GNSS-Denied Feature-Poor Environments Without Explicit Communication","publication_year":2024,"publication_date":"2024-04-25","ids":{"openalex":"https://openalex.org/W4395475412","doi":"https://doi.org/10.1109/lra.2024.3390596"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3390596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3390596","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.vu.nl/en/publications/c37be46a-7026-4f95-bc27-60d3cf7fca17","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012582868","display_name":"Ji\u0159\u00ed Horyna","orcid":"https://orcid.org/0000-0001-6614-0928"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Ji\u0159\u00ed Horyna","raw_affiliation_strings":["Multi-Robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Multi-Robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075195189","display_name":"V\u00edt Kr\u00e1tk\u00fd","orcid":"https://orcid.org/0000-0002-1914-742X"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"V\u00edt Kr\u00e1tk\u00fd","raw_affiliation_strings":["Multi-Robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Multi-Robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089703276","display_name":"V\u00e1clav Pritzl","orcid":"https://orcid.org/0000-0002-7248-6666"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"V\u00e1clav Pritzl","raw_affiliation_strings":["Multi-Robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Multi-Robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036165448","display_name":"Tom\u00e1\u0161 B\u00e1\u010da","orcid":"https://orcid.org/0000-0001-9649-8277"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Tom\u00e1\u0161 B\u00e1\u010da","raw_affiliation_strings":["Multi-Robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Multi-Robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030274190","display_name":"Eliseo Ferrante","orcid":"https://orcid.org/0000-0002-2213-8356"},"institutions":[{"id":"https://openalex.org/I865915315","display_name":"Vrije Universiteit Amsterdam","ror":"https://ror.org/008xxew50","country_code":"NL","type":"education","lineage":["https://openalex.org/I865915315"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Eliseo Ferrante","raw_affiliation_strings":["Department of Computer Science, Vrije Universiteit Amsterdam, Amsterdam, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Vrije Universiteit Amsterdam, Amsterdam, The Netherlands","institution_ids":["https://openalex.org/I865915315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004992661","display_name":"Martin Saska","orcid":"https://orcid.org/0000-0001-7106-3816"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Martin Saska","raw_affiliation_strings":["Multi-Robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Multi-Robot Systems Group, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5012582868"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":5.9329,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.96542237,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"9","issue":"6","first_page":"5284","last_page":"5291"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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/swarm-behaviour","display_name":"Swarm behaviour","score":0.770233154296875},{"id":"https://openalex.org/keywords/swarming","display_name":"Swarming (honey bee)","score":0.723904013633728},{"id":"https://openalex.org/keywords/flocking","display_name":"Flocking (texture)","score":0.6390711069107056},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.632000744342804},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.5375264883041382},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43510791659355164},{"id":"https://openalex.org/keywords/information-exchange","display_name":"Information exchange","score":0.41007739305496216},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39229342341423035},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3827095031738281},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.37911301851272583},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.11266988515853882},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.078036367893219}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.770233154296875},{"id":"https://openalex.org/C164017216","wikidata":"https://www.wikidata.org/wiki/Q1549094","display_name":"Swarming (honey bee)","level":2,"score":0.723904013633728},{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.6390711069107056},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.632000744342804},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.5375264883041382},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43510791659355164},{"id":"https://openalex.org/C189693848","wikidata":"https://www.wikidata.org/wiki/Q6031064","display_name":"Information exchange","level":2,"score":0.41007739305496216},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39229342341423035},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3827095031738281},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37911301851272583},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.11266988515853882},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.078036367893219},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2024.3390596","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3390596","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:research.vu.nl:openaire/c37be46a-7026-4f95-bc27-60d3cf7fca17","is_oa":true,"landing_page_url":"https://research.vu.nl/en/publications/c37be46a-7026-4f95-bc27-60d3cf7fca17","pdf_url":null,"source":{"id":"https://openalex.org/S4306401107","display_name":"VU Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I865915315","host_organization_name":"Vrije Universiteit Amsterdam","host_organization_lineage":["https://openalex.org/I865915315"],"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":"Horyna, J, Kratky, V, Pritzl, V, Baca, T, Ferrante, E & Saska, M 2024, 'Fast Swarming of UAVs in GNSS-Denied Feature-Poor Environments Without Explicit Communication', IEEE Robotics and Automation Letters, vol. 9, no. 6, pp. 5284-5291. https://doi.org/10.1109/LRA.2024.3390596","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:arXiv.org:2404.18729","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2404.18729","pdf_url":"https://arxiv.org/pdf/2404.18729","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"pmh:oai:research.vu.nl:publications/c37be46a-7026-4f95-bc27-60d3cf7fca17","is_oa":true,"landing_page_url":"https://hdl.handle.net/1871.1/c37be46a-7026-4f95-bc27-60d3cf7fca17","pdf_url":null,"source":{"id":"https://openalex.org/S4306401107","display_name":"VU Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I865915315","host_organization_name":"Vrije Universiteit Amsterdam","host_organization_lineage":["https://openalex.org/I865915315"],"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":"Horyna, J, Kratky, V, Pritzl, V, Baca, T, Ferrante, E & Saska, M 2024, 'Fast Swarming of UAVs in GNSS-Denied Feature-Poor Environments Without Explicit Communication', IEEE Robotics and Automation Letters, vol. 9, no. 6, pp. 5284-5291. https://doi.org/10.1109/LRA.2024.3390596","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:research.vu.nl:openaire/c37be46a-7026-4f95-bc27-60d3cf7fca17","is_oa":true,"landing_page_url":"https://research.vu.nl/en/publications/c37be46a-7026-4f95-bc27-60d3cf7fca17","pdf_url":null,"source":{"id":"https://openalex.org/S4306401107","display_name":"VU Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I865915315","host_organization_name":"Vrije Universiteit Amsterdam","host_organization_lineage":["https://openalex.org/I865915315"],"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":"Horyna, J, Kratky, V, Pritzl, V, Baca, T, Ferrante, E & Saska, M 2024, 'Fast Swarming of UAVs in GNSS-Denied Feature-Poor Environments Without Explicit Communication', IEEE Robotics and Automation Letters, vol. 9, no. 6, pp. 5284-5291. https://doi.org/10.1109/LRA.2024.3390596","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"score":0.4399999976158142,"display_name":"No poverty","id":"https://metadata.un.org/sdg/1"}],"awards":[{"id":"https://openalex.org/G112504165","display_name":null,"funder_award_id":"CZ.02.01.01/00/22_008/0004590","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6368936276","display_name":null,"funder_award_id":"23-07517S","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W108552209","https://openalex.org/W1989184898","https://openalex.org/W1994253176","https://openalex.org/W2002984289","https://openalex.org/W2029259235","https://openalex.org/W2055483905","https://openalex.org/W2333906691","https://openalex.org/W2742680303","https://openalex.org/W2745859992","https://openalex.org/W2773065585","https://openalex.org/W2884236119","https://openalex.org/W2885747614","https://openalex.org/W2892166381","https://openalex.org/W2916187293","https://openalex.org/W2981456787","https://openalex.org/W3036272831","https://openalex.org/W3039543089","https://openalex.org/W3077668761","https://openalex.org/W3096470617","https://openalex.org/W3105902712","https://openalex.org/W3139029978","https://openalex.org/W3160193765","https://openalex.org/W3184087412","https://openalex.org/W3186960480","https://openalex.org/W3206088000","https://openalex.org/W3209876736","https://openalex.org/W4214734027","https://openalex.org/W4229007520","https://openalex.org/W4235146370","https://openalex.org/W4249373955","https://openalex.org/W4288047721","https://openalex.org/W4307022441","https://openalex.org/W4313192059","https://openalex.org/W4384522495","https://openalex.org/W6752306711","https://openalex.org/W6755106081"],"related_works":["https://openalex.org/W1525031810","https://openalex.org/W2286365695","https://openalex.org/W4300783083","https://openalex.org/W2097610718","https://openalex.org/W2002188687","https://openalex.org/W2033590120","https://openalex.org/W2807007340","https://openalex.org/W2142589698","https://openalex.org/W2953240191","https://openalex.org/W59412712"],"abstract_inverted_index":{"A":[0,28],"decentralized":[1],"swarm":[2,60],"approach":[3],"for":[4],"the":[5,53,83,86,100,116,128,167,171],"fast":[6,64],"cooperative":[7],"flight":[8],"of":[9,31,85,115,133,145,170],"Unmanned":[10],"Aerial":[11],"Vehicles":[12],"(UAVs)":[13],"in":[14,25,57,63,94,154],"feature-poor":[15],"environments":[16],"without":[17],"any":[18],"external":[19],"localization":[20],"and":[21,43,99],"communication":[22,131],"is":[23,35,49,71],"introduced":[24],"this":[26],"letter.":[27],"novel":[29,68],"model":[30,102],"a":[32,112,143,158,163],"UAV":[33,159],"neighborhood":[34,101],"proposed":[36,137],"to":[37,51,81,124,149],"achieve":[38],"robust":[39],"onboard":[40,88],"mutual":[41],"perception":[42],"flocking":[44],"state":[45],"feedback":[46],"control,":[47],"which":[48,90],"designed":[50],"decrease":[52,125],"inter-agent":[54],"oscillations":[55],"common":[56],"standard":[58],"reactive":[59],"models":[61],"employed":[62],"collective":[65],"motion.":[66],"The":[67,136],"swarming":[69,117],"methodology":[70],"supplemented":[72],"with":[73,162],"an":[74],"enhanced":[75],"Multi-Robot":[76],"State":[77],"Estimation":[78],"(MRSE)":[79],"strategy":[80],"increase":[82],"reliability":[84],"purely":[87],"localization,":[89],"may":[91,103],"be":[92],"unreliable":[93,130],"real":[95],"environments.":[96],"Although":[97],"MRSE":[98],"rely":[104],"on":[105,120,127],"information":[106],"exchange":[107],"between":[108],"agents,":[109],"we":[110],"introduce":[111],"communication-less":[113],"version":[114],"framework":[118],"based":[119],"estimating":[121],"communicated":[122],"states":[123],"dependence":[126],"often":[129],"networks":[132],"large":[134],"swarms.":[135],"solution":[138],"has":[139],"been":[140],"verified":[141],"by":[142],"set":[144],"complex":[146],"real-world":[147],"experiments":[148],"demonstrate":[150],"its":[151],"overall":[152],"capability":[153],"different":[155],"conditions,":[156],"including":[157],"interception-motivated":[160],"task":[161],"group":[164],"velocity":[165],"reaching":[166],"physical":[168],"limits":[169],"individual":[172],"hardware":[173],"platforms.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}