{"id":"https://openalex.org/W2783840519","doi":"https://doi.org/10.1109/mra.2018.2866758","title":"The Voliro Omniorientational Hexacopter: An Agile and Maneuverable Tiltable-Rotor Aerial Vehicle","display_name":"The Voliro Omniorientational Hexacopter: An Agile and Maneuverable Tiltable-Rotor Aerial Vehicle","publication_year":2018,"publication_date":"2018-10-08","ids":{"openalex":"https://openalex.org/W2783840519","doi":"https://doi.org/10.1109/mra.2018.2866758","mag":"2783840519"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2018.2866758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2018.2866758","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1801.04581","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Mina Kamel","orcid":"https://orcid.org/0000-0002-0764-236X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mina Kamel","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Z\u00fcrich"],"raw_orcid":"https://orcid.org/0000-0002-0764-236X","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sebastian Verling","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Verling","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Omar Elkhatib","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Omar Elkhatib","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Z\u00fcrich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Christian Sprecher","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Christian Sprecher","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Z\u00fcrich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Paula Wulkop","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Paula Wulkop","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Z\u00fcrich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zachary Taylor","orcid":"https://orcid.org/0000-0002-5771-1300"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Zachary Taylor","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Z\u00fcrich"],"raw_orcid":"https://orcid.org/0000-0002-5771-1300","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH, Z\u00fcrich"],"raw_orcid":"https://orcid.org/0000-0002-2760-7983","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH, Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":null,"display_name":"Igor Gilitschenski","orcid":"https://orcid.org/0000-0001-6426-365X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Igor Gilitschenski","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge"],"raw_orcid":"https://orcid.org/0000-0001-6426-365X","affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":202.5436,"has_fulltext":false,"cited_by_count":266,"citation_normalized_percentile":{"value":0.99972259,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"25","issue":"4","first_page":"34","last_page":"44"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.3158000111579895,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.3158000111579895,"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/T11096","display_name":"Aeroelasticity and Vibration Control","score":0.16200000047683716,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.15449999272823334,"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/multirotor","display_name":"Multirotor","score":0.9750000238418579},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.7598999738693237},{"id":"https://openalex.org/keywords/scope","display_name":"Scope (computer science)","score":0.6887000203132629},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.32249999046325684},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31929999589920044},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2797999978065491}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.9750000238418579},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.7598999738693237},{"id":"https://openalex.org/C2778012447","wikidata":"https://www.wikidata.org/wiki/Q1034415","display_name":"Scope (computer science)","level":2,"score":0.6887000203132629},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.6011999845504761},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.4758000075817108},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4284000098705292},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4115000069141388},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3693999946117401},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.34459999203681946},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.32249999046325684},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31929999589920044},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2937999963760376},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2797999978065491},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.259799987077713},{"id":"https://openalex.org/C2780615885","wikidata":"https://www.wikidata.org/wiki/Q4692546","display_name":"Agile manufacturing","level":3,"score":0.25609999895095825},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2531999945640564}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/mra.2018.2866758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2018.2866758","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1801.04581","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1801.04581","pdf_url":"https://arxiv.org/pdf/1801.04581","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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:infoscience.epfl.ch:271834","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/162542","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1801.04581","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1801.04581","pdf_url":"https://arxiv.org/pdf/1801.04581","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1561053133","https://openalex.org/W1578294898","https://openalex.org/W1919002818","https://openalex.org/W1925307928","https://openalex.org/W1975729583","https://openalex.org/W1998434453","https://openalex.org/W2027333285","https://openalex.org/W2051155887","https://openalex.org/W2053232241","https://openalex.org/W2054639902","https://openalex.org/W2141209752","https://openalex.org/W2167340365","https://openalex.org/W2396668188","https://openalex.org/W2413000173","https://openalex.org/W2418601359","https://openalex.org/W2465948386","https://openalex.org/W2525786678","https://openalex.org/W2560414423","https://openalex.org/W2565939207","https://openalex.org/W2585493154","https://openalex.org/W2593091274","https://openalex.org/W2736730865","https://openalex.org/W2794308024","https://openalex.org/W4244209531","https://openalex.org/W6729858331"],"related_works":[],"abstract_inverted_index":{"Extending":[0],"the":[1,38,52,59],"maneuverability":[2,42],"of":[3,14,29,40,54,61],"multirotors":[4],"promises":[5],"to":[6],"yield":[7],"a":[8,46],"considerable":[9],"increase":[10],"in":[11,72],"their":[12],"scope":[13],"applications,":[15],"such":[16],"as":[17],"carrying":[18],"out":[19],"more":[20],"challenging":[21],"inspection":[22],"tasks":[23],"and":[24],"generating":[25],"complex,":[26],"uninterrupted":[27],"movements":[28],"an":[30,77],"attached":[31],"camera.":[32],"In":[33,66],"this":[34],"article,":[35],"we":[36],"address":[37],"promise":[39],"multirotor":[41,56],"by":[43],"presenting":[44],"Voliro,":[45],"novel":[47],"aerial":[48],"platform":[49],"that":[50],"combines":[51],"advantages":[53],"existing":[55],"systems":[57],"with":[58],"agility":[60],"vehicles":[62],"having":[63],"omniorientational":[64],"controllability.":[65],"other":[67],"words,":[68],"Voliro":[69],"can":[70],"fly":[71],"any":[73],"direction":[74],"while":[75],"maintaining":[76],"arbitrary":[78],"orientation.":[79]},"counts_by_year":[{"year":2026,"cited_by_count":17},{"year":2025,"cited_by_count":47},{"year":2024,"cited_by_count":39},{"year":2023,"cited_by_count":40},{"year":2022,"cited_by_count":34},{"year":2021,"cited_by_count":45},{"year":2020,"cited_by_count":25},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":8}],"updated_date":"2026-07-31T08:31:51.225901","created_date":"2018-01-26T00:00:00"}