{"id":"https://openalex.org/W4409102072","doi":"https://doi.org/10.1109/lra.2025.3557300","title":"A Quadrotor Aerial Docking System Utilizing Both Vision and Magnetic Field","display_name":"A Quadrotor Aerial Docking System Utilizing Both Vision and Magnetic Field","publication_year":2025,"publication_date":"2025-04-03","ids":{"openalex":"https://openalex.org/W4409102072","doi":"https://doi.org/10.1109/lra.2025.3557300"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3557300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3557300","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/A5002495980","display_name":"Xiaobin Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaobin Yu","raw_affiliation_strings":["The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China"],"affiliations":[{"raw_affiliation_string":"The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060928467","display_name":"Jingbo Wei","orcid":"https://orcid.org/0000-0002-0749-7692"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingbo Wei","raw_affiliation_strings":["The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China"],"affiliations":[{"raw_affiliation_string":"The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100653818","display_name":"Xinliang Li","orcid":"https://orcid.org/0000-0003-4885-565X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinliang Li","raw_affiliation_strings":["The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China"],"affiliations":[{"raw_affiliation_string":"The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043185825","display_name":"Mei Liu","orcid":"https://orcid.org/0000-0002-7073-6174"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mei Liu","raw_affiliation_strings":["The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China"],"affiliations":[{"raw_affiliation_string":"The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057577122","display_name":"Chunqiang Wang","orcid":"https://orcid.org/0000-0002-3941-3721"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunqiang Wang","raw_affiliation_strings":["The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China"],"affiliations":[{"raw_affiliation_string":"The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027154608","display_name":"Zijie Qin","orcid":"https://orcid.org/0000-0002-3707-3444"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zijie Qin","raw_affiliation_strings":["The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China"],"affiliations":[{"raw_affiliation_string":"The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100362815","display_name":"Jiawei Chen","orcid":"https://orcid.org/0000-0002-4752-2629"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weijian Chen","raw_affiliation_strings":["The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China"],"affiliations":[{"raw_affiliation_string":"The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101812388","display_name":"Kaixin Li","orcid":"https://orcid.org/0009-0001-8000-9691"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaixin Li","raw_affiliation_strings":["The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China"],"affiliations":[{"raw_affiliation_string":"The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111117138","display_name":"Kun Liu","orcid":"https://orcid.org/0009-0003-6171-6029"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Liu","raw_affiliation_strings":["The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China"],"affiliations":[{"raw_affiliation_string":"The School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen, P.R.China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5002495980"],"corresponding_institution_ids":["https://openalex.org/I157773358","https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":1.2784,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.78244719,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"10","issue":"6","first_page":"5529","last_page":"5536"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9729999899864197,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9729999899864197,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9642000198364258,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9441999793052673,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/docking","display_name":"Docking (animal)","score":0.6436318755149841},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3520188331604004},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11335653066635132}],"concepts":[{"id":"https://openalex.org/C41685203","wikidata":"https://www.wikidata.org/wiki/Q1974042","display_name":"Docking (animal)","level":2,"score":0.6436318755149841},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3520188331604004},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11335653066635132},{"id":"https://openalex.org/C159110408","wikidata":"https://www.wikidata.org/wiki/Q121176","display_name":"Nursing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3557300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3557300","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":[{"score":0.4300000071525574,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1500703391","https://openalex.org/W1578294898","https://openalex.org/W1979471244","https://openalex.org/W2058743584","https://openalex.org/W2060794637","https://openalex.org/W2069049193","https://openalex.org/W2075665712","https://openalex.org/W2170892466","https://openalex.org/W2209714676","https://openalex.org/W2911010442","https://openalex.org/W2921507204","https://openalex.org/W3037780172","https://openalex.org/W3089561366","https://openalex.org/W3110457222","https://openalex.org/W3145326478","https://openalex.org/W3169239846","https://openalex.org/W3192694561","https://openalex.org/W3202128563","https://openalex.org/W3208807190","https://openalex.org/W4205155592","https://openalex.org/W4213250528","https://openalex.org/W4285102218","https://openalex.org/W4306160390","https://openalex.org/W4323644160","https://openalex.org/W4392461304","https://openalex.org/W4401386965"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"This":[0,182],"paper":[1],"presents":[2],"a":[3,26,29,125,152,169,179,188],"complete":[4],"quadrotor":[5,54,69,222],"aerial":[6],"docking":[7,60,129,137,150,225],"system":[8,64],"that":[9],"utilizes":[10],"both":[11],"vision":[12],"and":[13,32,42,55,81,127,219,229],"magnetic":[14,78,122,146,153,217],"field":[15,154,218],"guidance":[16,22,47,66,99,123],"to":[17,70,92,107,135,177,191,212,223],"achieve":[18],"high-precision":[19],"docking.":[20,95],"Visual":[21],"is":[23,48,105,156,184,200],"implemented":[24],"using":[25,168],"combination":[27],"of":[28,116,121,235],"forward-facing":[30],"camera":[31],"an":[33,101],"upward-facing":[34],"camera,":[35],"which":[36,174],"provide":[37,192],"feedback":[38,111],"on":[39,52],"the":[40,53,59,68,72,76,88,97,113,119,141,145,149,159,204,209,216,221,224,233,236],"local":[41],"relative":[43],"positions,":[44],"respectively.":[45],"Magnetic":[46],"realized":[49],"through":[50],"electromagnets":[51],"permanent":[56],"magnets":[57],"at":[58],"site.":[61],"The":[62,162],"visual":[63,98],"provides":[65],"for":[67],"approach":[71],"target":[73],"point,":[74],"while":[75],"opposing":[77],"poles":[79],"attract":[80],"align":[82],"with":[83,87,131,144,215],"each":[84],"other,":[85],"cooperating":[86],"quadrotor's":[89,142,210],"four":[90],"rotors":[91],"ensure":[93,108],"accurate":[94],"In":[96],"system,":[100],"intermediate":[102],"coordinate":[103,140,214],"frame":[104],"established":[106],"consistent":[109],"position":[110],"from":[112,148],"two":[114],"sets":[115],"cameras.":[117],"Meanwhile,":[118],"use":[120],"enables":[124],"rapid":[126],"low-cost":[128],"solution":[130],"greater":[132],"scalability":[133],"compared":[134],"mechanical":[136],"devices.":[138],"To":[139],"actuators":[143,211],"force":[147],"device,":[151,173],"model":[155,183],"integrated":[157],"into":[158],"flight":[160],"controller.":[161],"model's":[163],"parameters":[164],"are":[165],"identified":[166],"offline":[167],"simple,":[170],"self-made":[171],"measurement":[172],"collects":[175],"data":[176],"train":[178],"precise":[180],"model.":[181],"then":[185,201],"used":[186],"as":[187],"virtual":[189],"sensor":[190],"real-time":[193],"feedback.":[194],"A":[195],"quadratic":[196],"programming":[197],"(QP)":[198],"problem":[199],"formulated":[202],"in":[203],"control":[205],"allocation":[206],"module,":[207],"allowing":[208],"effectively":[213],"guide":[220],"point.":[226],"Both":[227],"simulations":[228],"experimental":[230],"results":[231],"validate":[232],"feasibility":[234],"proposed":[237],"system.":[238]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}