{"id":"https://openalex.org/W2077538396","doi":"https://doi.org/10.1109/robot.2010.5509338","title":"An indoor flying platform with collision robustness and self-recovery","display_name":"An indoor flying platform with collision robustness and self-recovery","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2077538396","doi":"https://doi.org/10.1109/robot.2010.5509338","mag":"2077538396"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509338","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509338","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/142983","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067648635","display_name":"Adam Klaptocz","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":"Adam Klaptocz","raw_affiliation_strings":["Laboratory of Intelligent Systems, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","Laboratory of Intelligent Systems, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Laboratory of Intelligent Systems, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105436571","display_name":"Gr\u00e9goire Boutinard-Rouelle","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145373","display_name":"Federal Supreme Court of Switzerland","ror":"https://ror.org/0494r5h25","country_code":"CH","type":"government","lineage":["https://openalex.org/I4210145373"]},{"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":"Gre\u0301goire Boutinard-Rouelle","raw_affiliation_strings":["Laboratory of Intelligent Systems, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","Ec. Pol. Federale de Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Ec. Pol. Federale de Lausanne, Switzerland","institution_ids":["https://openalex.org/I4210145373"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043905770","display_name":"Adrien Briod","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":false,"raw_author_name":"Adrien Briod","raw_affiliation_strings":["Laboratory of Intelligent Systems, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","Laboratory of Intelligent Systems, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Laboratory of Intelligent Systems, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","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":false,"raw_author_name":"Jean-Christophe Zufferey","raw_affiliation_strings":["Laboratory of Intelligent Systems, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","Laboratory of Intelligent Systems, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Laboratory of Intelligent Systems, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"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 F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","Laboratory of Intelligent Systems, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Laboratory of Intelligent Systems, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5067648635"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":1.50264319,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.82010458,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3349","last_page":"3354"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.996399998664856,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.994700014591217,"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/robustness","display_name":"Robustness (evolution)","score":0.892744779586792},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7199240922927856},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6905189156532288},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.6373914480209351},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6043432950973511},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44832131266593933},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4010544717311859},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2949484586715698},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1831737458705902},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.0898040235042572}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.892744779586792},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7199240922927856},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6905189156532288},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.6373914480209351},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6043432950973511},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44832131266593933},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4010544717311859},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2949484586715698},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1831737458705902},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0898040235042572},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2010.5509338","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509338","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:142983","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/142983","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:142983","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/142983","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":[{"score":0.4699999988079071,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W186368422","https://openalex.org/W408815147","https://openalex.org/W1668299364","https://openalex.org/W1918754505","https://openalex.org/W1977103166","https://openalex.org/W1989125340","https://openalex.org/W1998481308","https://openalex.org/W2002303705","https://openalex.org/W2017222762","https://openalex.org/W2018887741","https://openalex.org/W2072225778","https://openalex.org/W2108130524","https://openalex.org/W2109410799","https://openalex.org/W2110553134","https://openalex.org/W2131991784","https://openalex.org/W2143764656","https://openalex.org/W2146071867","https://openalex.org/W2154422147","https://openalex.org/W4206389232","https://openalex.org/W6649710979","https://openalex.org/W6676313064","https://openalex.org/W6681644751"],"related_works":["https://openalex.org/W3113932901","https://openalex.org/W650625605","https://openalex.org/W2801025257","https://openalex.org/W2551285827","https://openalex.org/W1919219501","https://openalex.org/W2027504272","https://openalex.org/W2372181157","https://openalex.org/W2759268906","https://openalex.org/W2347750628","https://openalex.org/W2080947273"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"new":[4,83],"paradigm":[5],"in":[6],"the":[7,91],"design":[8],"of":[9],"indoor":[10],"flying":[11,21],"robots":[12,22],"that":[13],"replaces":[14],"collision":[15,18,103],"avoidance":[16],"with":[17],"robustness.":[19],"Indoor":[20],"must":[23],"operate":[24],"within":[25],"constrained":[26],"and":[27,44,52,65,97,105],"cluttered":[28],"environments":[29],"where":[30],"even":[31],"nature\u00e2\u0080\u0099s":[32],"most":[33],"sophisticated":[34],"flyers":[35],"such":[36],"as":[37],"insects":[38],"cannot":[39],"avoid":[40],"all":[41],"obsta-":[42],"cles":[43],"should":[45],"thus":[46],"be":[47],"able":[48],"to":[49,62,100],"withstand":[50,63],"collisions":[51,64,99],"recover":[53,66],"from":[54],"them":[55],"autonomously.":[56],"A":[57],"prototype":[58],"platform":[59,92],"specifically":[60],"designed":[61],"without":[67],"human":[68],"intervention":[69],"is":[70,79,93],"presented.":[71],"An":[72],"optimization":[73],"algorithm":[74],"used":[75],"for":[76],"its":[77,102],"dimensioning":[78],"proposed":[80],"followed":[81],"by":[82],"construction":[84],"techniques":[85],"focusing":[86],"on":[87],"shock":[88],"absorption.":[89],"Finally,":[90],"tested":[94],"both":[95],"in-flight":[96],"during":[98],"characterize":[101],"robustness":[104],"self-":[106],"recovery":[107],"capability.":[108]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":2}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}
