{"id":"https://openalex.org/W2735858878","doi":"https://doi.org/10.1109/ssrr.2017.8088150","title":"A decentralized multi-agent unmanned aerial system to search, pick up, and relocate objects","display_name":"A decentralized multi-agent unmanned aerial system to search, pick up, and relocate objects","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2735858878","doi":"https://doi.org/10.1109/ssrr.2017.8088150","mag":"2735858878"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2017.8088150","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2017.8088150","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1707.03734","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Rik Bahnemann","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":true,"raw_author_name":"Rik Bahnemann","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Dominik Schindler","orcid":null},"institutions":[{"id":"https://openalex.org/I2800946978","display_name":"Arctic Submarine Laboratory","ror":"https://ror.org/01dwp8348","country_code":"US","type":"facility","lineage":["https://openalex.org/I2800946978","https://openalex.org/I4391012598"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dominik Schindler","raw_affiliation_strings":["ASL"],"affiliations":[{"raw_affiliation_string":"ASL","institution_ids":["https://openalex.org/I2800946978"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mina Kamel","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":"Mina Kamel","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Roland Siegwart","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":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":null,"display_name":"Juan Nieto","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":"Juan Nieto","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":81.9914,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.99797275,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"123","last_page":"128"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9995999932289124,"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/T12288","display_name":"Optimization and Search Problems","score":0.9879999756813049,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/robotics","display_name":"Robotics","score":0.7426000237464905},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6485000252723694},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4781000018119812},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4138000011444092},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4023999869823456},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3910999894142151},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.36070001125335693},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.3529999852180481},{"id":"https://openalex.org/keywords/bin","display_name":"Bin","score":0.34940001368522644}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7426000237464905},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7350999712944031},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6500999927520752},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6485000252723694},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5314000248908997},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4781000018119812},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42800000309944153},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4138000011444092},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4023999869823456},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3910999894142151},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3776000142097473},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.36070001125335693},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.3529999852180481},{"id":"https://openalex.org/C156273044","wikidata":"https://www.wikidata.org/wiki/Q4913766","display_name":"Bin","level":2,"score":0.34940001368522644},{"id":"https://openalex.org/C19527686","wikidata":"https://www.wikidata.org/wiki/Q1665453","display_name":"System integration","level":2,"score":0.33640000224113464},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3262999951839447},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.32190001010894775},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.3174999952316284},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3025999963283539},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.29899999499320984},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.2962000072002411},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2946000099182129},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.29330000281333923},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.28760001063346863},{"id":"https://openalex.org/C122129529","wikidata":"https://www.wikidata.org/wiki/Q2634828","display_name":"Inverse system","level":3,"score":0.27379998564720154},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26989999413490295},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.25450000166893005},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2538999915122986}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ssrr.2017.8088150","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2017.8088150","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1707.03734","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1707.03734","pdf_url":"https://arxiv.org/pdf/1707.03734","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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:zenodo.org:1143747","is_oa":true,"landing_page_url":"https://zenodo.org/record/1143747","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1707.03734","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1707.03734","pdf_url":"https://arxiv.org/pdf/1707.03734","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":19,"referenced_works":["https://openalex.org/W171569338","https://openalex.org/W1998058414","https://openalex.org/W2015281880","https://openalex.org/W2036613575","https://openalex.org/W2041168221","https://openalex.org/W2062731992","https://openalex.org/W2063472265","https://openalex.org/W2096552072","https://openalex.org/W2116116881","https://openalex.org/W2127752689","https://openalex.org/W2159786429","https://openalex.org/W2197847098","https://openalex.org/W2222512263","https://openalex.org/W2295977886","https://openalex.org/W2562608436","https://openalex.org/W2585493154","https://openalex.org/W2767797204","https://openalex.org/W3146727668","https://openalex.org/W4246614213"],"related_works":[],"abstract_inverted_index":{"We":[0,65,114],"present":[1],"a":[2,55,111],"fully":[3],"integrated":[4],"autonomous":[5],"multirobot":[6],"aerial":[7,35,42],"system":[8,57,80,121,128],"for":[9,92],"finding":[10],"and":[11,14,28,39,41,89,99,110,139,156],"collecting":[12],"moving":[13],"static":[15],"objects":[16],"with":[17],"unknown":[18],"locations.":[19],"This":[20],"task":[21,69],"addresses":[22],"multiple":[23],"relevant":[24],"problems":[25,49],"in":[26,133,163],"search":[27],"rescue":[29],"(SAR)":[30],"robotics":[31],"such":[32],"as":[33],"multi-agent":[34,93],"exploration,":[36],"object":[37],"detection":[38],"tracking,":[40],"gripping.":[43],"Usually,":[44],"the":[45,52,116,123,140,150,164],"community":[46],"tackles":[47],"these":[48],"individually":[50],"but":[51],"integration":[53],"into":[54],"working":[56],"generates":[58],"extra":[59],"complexity":[60],"which":[61],"is":[62],"rarely":[63],"addressed.":[64],"show":[66],"that":[67],"this":[68],"can":[70],"be":[71],"solved":[72],"reliably":[73],"using":[74,102],"only":[75],"simple":[76],"components.":[77],"Our":[78],"decentralized":[79],"uses":[81],"accurate":[82],"global":[83],"state":[84],"estimation,":[85],"reactive":[86],"collision":[87],"avoidance,":[88],"sweep":[90],"planning":[91],"exploration.":[94],"Objects":[95],"are":[96],"detected,":[97],"tracked,":[98],"picked":[100],"up":[101],"blob":[103],"detection,":[104],"inverse":[105],"3D-projection,":[106],"Kalman":[107],"filtering,":[108],"visual-servoing,":[109],"magnetic":[112],"gripper.":[113],"evaluate":[115],"individual":[117,165],"components":[118],"of":[119,161],"our":[120],"on":[122],"real":[124],"platform.":[125],"The":[126],"full":[127],"has":[129],"been":[130],"deployed":[131],"successfully":[132],"various":[134],"public":[135],"demonstrations,":[136],"field":[137],"tests,":[138],"Mohamed":[141],"Bin":[142],"Zayed":[143],"International":[144],"Robotics":[145],"Challenge":[146],"2017":[147],"(MBZIRC).":[148],"Among":[149],"contestants":[151],"we":[152],"showed":[153],"reliable":[154],"performances":[155],"reached":[157],"second":[158],"place":[159],"out":[160],"17":[162],"challenge.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":8}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2017-07-21T00:00:00"}
