{"id":"https://openalex.org/W1996786605","doi":"https://doi.org/10.1109/robot.2010.5509273","title":"Autonomous flight at low altitude with vision-based collision avoidance and GPS-based path following","display_name":"Autonomous flight at low altitude with vision-based collision avoidance and GPS-based path following","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W1996786605","doi":"https://doi.org/10.1109/robot.2010.5509273","mag":"1996786605"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509273","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/142989","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110230721","display_name":"Jean\u2010Christophe Zufferey","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Jean-Christophe Zufferey","raw_affiliation_strings":["Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland","Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne (EPFL), 1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne (EPFL), 1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072366616","display_name":"Antoine Beyeler","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Antoine Beyeler","raw_affiliation_strings":["CTO of sensefly, Ecublens, Switzerland","CTO of senseFly, 1024 Ecublens, Switzerland"],"affiliations":[{"raw_affiliation_string":"CTO of sensefly, Ecublens, Switzerland","institution_ids":[]},{"raw_affiliation_string":"CTO of senseFly, 1024 Ecublens, Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059369445","display_name":"Dario Floreano","orcid":"https://orcid.org/0000-0002-5330-4863"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dario Floreano","raw_affiliation_strings":["Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland","Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne (EPFL), 1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Laboratory of Intelligent Systems, Ecole Polytechnique Federale de Lausanne (EPFL), 1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5110230721"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":4.2022,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.94446376,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"33","issue":null,"first_page":"3329","last_page":"3334"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T12158","display_name":"Guidance and Control Systems","score":0.9940999746322632,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/collision-avoidance","display_name":"Collision avoidance","score":0.8294576406478882},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7304219007492065},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6294345259666443},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5638733506202698},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.52101731300354},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4965406060218811},{"id":"https://openalex.org/keywords/course","display_name":"Course (navigation)","score":0.4917741119861603},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4448016881942749},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.43604201078414917},{"id":"https://openalex.org/keywords/altitude","display_name":"Altitude (triangle)","score":0.43377745151519775},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.33739691972732544},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3335023820400238},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32508373260498047},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24765554070472717},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24316877126693726},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09141385555267334},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0902785062789917},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08269774913787842}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8294576406478882},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7304219007492065},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6294345259666443},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5638733506202698},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.52101731300354},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4965406060218811},{"id":"https://openalex.org/C2777552389","wikidata":"https://www.wikidata.org/wiki/Q1962728","display_name":"Course (navigation)","level":2,"score":0.4917741119861603},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4448016881942749},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.43604201078414917},{"id":"https://openalex.org/C6350597","wikidata":"https://www.wikidata.org/wiki/Q339495","display_name":"Altitude (triangle)","level":2,"score":0.43377745151519775},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.33739691972732544},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3335023820400238},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32508373260498047},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24765554070472717},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24316877126693726},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09141385555267334},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0902785062789917},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08269774913787842},{"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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2010.5509273","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509273","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:142989","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/142989","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:142989","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/142989","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W186368422","https://openalex.org/W770938780","https://openalex.org/W1526784953","https://openalex.org/W1602563405","https://openalex.org/W1799931676","https://openalex.org/W1888586863","https://openalex.org/W1918396516","https://openalex.org/W1968233311","https://openalex.org/W1989125340","https://openalex.org/W1996186955","https://openalex.org/W2019586060","https://openalex.org/W2037539475","https://openalex.org/W2044548177","https://openalex.org/W2089619860","https://openalex.org/W2115270410","https://openalex.org/W2123656427","https://openalex.org/W2140638079","https://openalex.org/W2159956441","https://openalex.org/W2167132660","https://openalex.org/W2246316648","https://openalex.org/W2330888985","https://openalex.org/W4230193305","https://openalex.org/W4231040242","https://openalex.org/W4233642774","https://openalex.org/W4240932134","https://openalex.org/W6622409865","https://openalex.org/W6638225587","https://openalex.org/W6690680936"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3162200841","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311"],"abstract_inverted_index":{"The":[0],"ability":[1],"to":[2,94],"fly":[3],"at":[4,43,71,122],"low":[5],"altitude":[6],"while":[7],"actively":[8],"avoiding":[9,75],"collisions":[10,76],"with":[11,89],"the":[12,48,127],"terrain":[13,128],"and":[14,57,74],"other":[15],"objects":[16],"is":[17,120],"a":[18,31,37,90,116,130],"great":[19],"challenge":[20],"for":[21],"small":[22],"unmanned":[23,118],"aircraft.":[24],"This":[25,65,81],"paper":[26,82],"builds":[27],"on":[28,129],"top":[29],"of":[30,39,63,102,109,136],"control":[32,66,99],"strategy":[33,67],"called":[34],"optiPilot":[35,85],"whereby":[36],"series":[38],"optic-flow":[40],"detectors":[41],"pointed":[42],"divergent":[44],"viewing":[45],"directions":[46],"around":[47],"aircraft":[49,119],"main":[50],"axis":[51],"are":[52,113],"linearly":[53],"combined":[54],"into":[55],"roll":[56],"pitch":[58],"commands":[59],"using":[60],"two":[61,134],"sets":[62],"weights.":[64],"already":[68],"proved":[69],"successful":[70],"controlling":[72],"flight":[73,98],"in":[77,92,100],"reactive":[78],"navigation":[79],"experiments.":[80],"shows":[83],"how":[84],"can":[86],"be":[87],"coupled":[88],"GPS":[91],"order":[93],"provide":[95],"goal-directed,":[96],"nap-of-the-earth":[97],"presence":[101],"static":[103],"obstacles.":[104],"Two":[105],"fully":[106],"autonomous":[107],"flights":[108],"25":[110],"minutes":[111],"each":[112],"described":[114],"where":[115],"400-gram":[117],"flying":[121],"approx.":[123],"9":[124],"m":[125],"above":[126],"circular":[131],"path":[132],"including":[133],"copses":[135],"trees":[137],"requiring":[138],"efficient":[139],"collision":[140],"avoidance":[141],"actions.":[142]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}