{"id":"https://openalex.org/W4405429496","doi":"https://doi.org/10.1109/lra.2024.3518101","title":"FACT: Fast and Active Coordinate Initialization for Vision-Based Drone Swarms","display_name":"FACT: Fast and Active Coordinate Initialization for Vision-Based Drone Swarms","publication_year":2024,"publication_date":"2024-12-16","ids":{"openalex":"https://openalex.org/W4405429496","doi":"https://doi.org/10.1109/lra.2024.3518101"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3518101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3518101","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/A5115602864","display_name":"Yuan Li","orcid":"https://orcid.org/0009-0007-3622-0522"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuan Li","raw_affiliation_strings":["Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111151862","display_name":"Anke Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anke Zhao","raw_affiliation_strings":["Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074097758","display_name":"Yingjian Wang","orcid":"https://orcid.org/0000-0003-4515-9835"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingjian Wang","raw_affiliation_strings":["Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070273121","display_name":"Ziyi Xu","orcid":"https://orcid.org/0000-0003-3046-1425"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyi Xu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042314889","display_name":"Xin Zhou","orcid":"https://orcid.org/0000-0001-5484-205X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Zhou","raw_affiliation_strings":["Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050543156","display_name":"Chao Xu","orcid":"https://orcid.org/0000-0002-2759-6364"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Xu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109404467","display_name":"Jinni Zhou","orcid":"https://orcid.org/0000-0002-9093-5648"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jinni Zhou","raw_affiliation_strings":["Hong Kong University of Science and Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology, Guangzhou, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086914377","display_name":"Fei Gao","orcid":"https://orcid.org/0000-0002-6513-374X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Gao","raw_affiliation_strings":["Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5115602864"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":5.1983,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.95323757,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"10","issue":"2","first_page":"931","last_page":"938"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9927999973297119,"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":0.9927999973297119,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.988099992275238,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9718999862670898,"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/drone","display_name":"Drone","score":0.9026023149490356},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.7447899580001831},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6146162748336792},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5930894613265991},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5760550498962402},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.41230297088623047},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.06967818737030029}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.9026023149490356},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7447899580001831},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6146162748336792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5930894613265991},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5760550498962402},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.41230297088623047},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.06967818737030029},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3518101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3518101","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:1783.1-152110","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-152110","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":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.4000000059604645}],"awards":[{"id":"https://openalex.org/G2575069074","display_name":null,"funder_award_id":"62088101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3193198178","display_name":null,"funder_award_id":"62322314","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2054289217","https://openalex.org/W2090219750","https://openalex.org/W2120794135","https://openalex.org/W2138400911","https://openalex.org/W2146110276","https://openalex.org/W2152464086","https://openalex.org/W2419503358","https://openalex.org/W2547811925","https://openalex.org/W2745859992","https://openalex.org/W2886780319","https://openalex.org/W3090291521","https://openalex.org/W4229007520","https://openalex.org/W4285109488","https://openalex.org/W4285235494","https://openalex.org/W4321608086","https://openalex.org/W4362641369","https://openalex.org/W6839744764"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Coordinate":[0],"initialization":[1,23,159],"is":[2,75,165,178],"the":[3,14,76,98,120,136,154],"first":[4,77],"step":[5],"in":[6,24,125],"accomplishing":[7],"collaborative":[8],"tasks":[9],"within":[10],"robot":[11],"swarms,":[12],"determining":[13],"quality":[15],"of":[16,100,122],"tasks.":[17],"However,":[18],"fast":[19],"and":[20,49,64,72,105,112,127,132,148,162,172],"robust":[21],"coordinate":[22,158],"vision-based":[25,60,87],"drone":[26],"swarms":[27],"remains":[28],"elusive.":[29],"To":[30],"this":[31],"end,":[32],"our":[33,53,123,150],"letter":[34],"proposes":[35],"a":[36,92],"complete":[37],"system":[38,124,151],"for":[39,102,157,167,180],"initial":[40],"relative":[41,46],"pose":[42],"estimation,":[43],"including":[44],"both":[45],"state":[47],"estimation":[48],"active":[50],"planning.":[51],"Particularly,":[52],"work":[54],"fuses":[55],"onboard":[56],"visual-inertial":[57],"odometry":[58],"with":[59,86,130,169],"observations":[61],"generating":[62],"bearing":[63],"range":[65],"measurements,":[66],"which":[67,164],"are":[68],"anonymous,":[69],"partially":[70],"mutual,":[71],"noisy.":[73],"It":[74],"method":[78],"based":[79,144],"on":[80,145],"convex":[81],"optimization":[82,147],"to":[83,95,142],"initialize":[84],"coordinates":[85],"observations.":[88],"Additionally,":[89],"we":[90,118],"designed":[91],"lightweight":[93],"module":[94],"actively":[96],"control":[97],"movement":[99],"robots":[101,168],"observation":[103],"acquisition":[104],"collision":[106],"avoidance.":[107],"With":[108],"only":[109],"stereo":[110],"cameras":[111],"inertial":[113],"measurement":[114],"units":[115],"as":[116],"sensors,":[117],"validate":[119],"practicability":[121],"simulations":[126],"real-world":[128],"areas":[129],"obstacles":[131],"without":[133],"signals":[134],"from":[135],"Global":[137],"Navigation":[138],"Satellite":[139],"System.":[140],"Compared":[141],"methods":[143],"local":[146],"filters,":[149],"can":[152],"achieve":[153],"global":[155],"optimum":[156],"more":[160],"stably":[161],"quickly,":[163],"suitable":[166],"size,":[170],"weight,":[171],"power":[173],"constraints.":[174],"The":[175],"source":[176],"code":[177],"released":[179],"reference.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}