{"id":"https://openalex.org/W4404953695","doi":"https://doi.org/10.1109/ssrr62954.2024.10770002","title":"Modular, Tethered, Reconfigurable Hybrid Robotic Vehicles for Aerial Grasping and Package Delivery","display_name":"Modular, Tethered, Reconfigurable Hybrid Robotic Vehicles for Aerial Grasping and Package Delivery","publication_year":2024,"publication_date":"2024-11-12","ids":{"openalex":"https://openalex.org/W4404953695","doi":"https://doi.org/10.1109/ssrr62954.2024.10770002"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr62954.2024.10770002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr62954.2024.10770002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Symposium on Safety Security Rescue Robotics (SSRR)","raw_type":"proceedings-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/A5048601227","display_name":"Masahiro Kobayashi","orcid":"https://orcid.org/0000-0002-6813-1889"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Masahiro Kobayashi","raw_affiliation_strings":["New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Geoffrey Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Geoffrey Huang","raw_affiliation_strings":["New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040823368","display_name":"Joao Buzzatto","orcid":"https://orcid.org/0000-0003-3725-4023"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Joao Buzzatto","raw_affiliation_strings":["New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109735011","display_name":"Angus Lynch","orcid":null},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Angus Lynch","raw_affiliation_strings":["New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012966309","display_name":"Kostas J. Kyriakopoulos","orcid":"https://orcid.org/0000-0002-1229-3029"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Kostas Kyriakopoulos","raw_affiliation_strings":["School of Mechanical Engineering, National Technical University of Athens,Control Systems Laboratory,Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, National Technical University of Athens,Control Systems Laboratory,Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043544803","display_name":"Minas Liarokapis","orcid":"https://orcid.org/0000-0002-6016-1477"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Minas Liarokapis","raw_affiliation_strings":["New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New Dexterity research group, The University of Auckland,Department of Mechanical and Mechatronics Engineering,New Zealand","institution_ids":["https://openalex.org/I154130895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5593,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.63060032,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"131","last_page":"135"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9957000017166138,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/modular-design","display_name":"Modular design","score":0.8694831132888794},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6376356482505798},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.46317559480667114},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45807477831840515},{"id":"https://openalex.org/keywords/computer-architecture","display_name":"Computer architecture","score":0.3653390407562256},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32956260442733765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2523133158683777},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.07890209555625916}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8694831132888794},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6376356482505798},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.46317559480667114},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45807477831840515},{"id":"https://openalex.org/C118524514","wikidata":"https://www.wikidata.org/wiki/Q173212","display_name":"Computer architecture","level":1,"score":0.3653390407562256},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32956260442733765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2523133158683777},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.07890209555625916}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr62954.2024.10770002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr62954.2024.10770002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Symposium on Safety Security Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W306312984","https://openalex.org/W1548040463","https://openalex.org/W2004720465","https://openalex.org/W2019896740","https://openalex.org/W2037011962","https://openalex.org/W2089090747","https://openalex.org/W2739397999","https://openalex.org/W2891970369","https://openalex.org/W3124777119","https://openalex.org/W3211235449","https://openalex.org/W4206368278","https://openalex.org/W4282970004","https://openalex.org/W4296915802","https://openalex.org/W4320059741","https://openalex.org/W4327662018","https://openalex.org/W6644604492"],"related_works":["https://openalex.org/W2378076731","https://openalex.org/W4286888643","https://openalex.org/W3210795196","https://openalex.org/W2088988140","https://openalex.org/W3171015545","https://openalex.org/W2103019253","https://openalex.org/W2951529875","https://openalex.org/W2391453316","https://openalex.org/W4396648495","https://openalex.org/W3015461243"],"abstract_inverted_index":{"Unmanned":[0],"Aerial":[1],"Vehicles":[2],"(UAVs)":[3],"are":[4],"rapidly":[5],"emerging":[6],"as":[7,86],"the":[8,55,95,112,115,147,150,159],"next-generation":[9],"solution":[10],"for":[11,38,45,161],"delivering":[12],"pay-loads.":[13],"In":[14],"recent":[15],"years,":[16],"numerous":[17],"designs":[18],"have":[19],"been":[20],"proposed,":[21],"each":[22],"offering":[23],"distinct":[24,125],"approaches":[25],"to":[26,33,87,97,109,111,145],"this":[27],"challenge.":[28],"Presently,":[29],"existing":[30],"systems":[31],"tend":[32],"be":[34],"cumbersome":[35],"and":[36,61,79,104,132,164,167],"tailored":[37],"specific":[39],"applications,":[40],"which":[41],"hinders":[42],"their":[43],"flexibility":[44],"accommodating":[46],"different":[47],"environments":[48],"or":[49],"payloads.":[50],"This":[51,142],"work":[52],"focuses":[53],"on":[54],"development":[56],"of":[57,114,123,128,149,158],"a":[58,74,80,139],"versatile,":[59],"scalable,":[60],"modular":[62,69],"drone":[63],"delivery":[64],"system.":[65,141],"The":[66,117],"system":[67,119,153],"comprises":[68],"mobile":[70],"robots":[71],"equipped":[72],"with":[73,166],"propulsion":[75],"unit,":[76],"omnidirectional":[77],"wheels,":[78],"coupler":[81],"mechanism,":[82],"enabling":[83],"assembly":[84],"so":[85],"form":[88],"rigid":[89],"inter-module":[90],"connections.":[91],"These":[92],"drones":[93],"possess":[94],"ability":[96],"accommodate":[98],"various":[99],"payloads":[100],"by":[101,154],"utilising":[102],"tethers":[103],"contact":[105],"pads,":[106],"allowing":[107],"them":[108],"conform":[110],"shape":[113],"packages.":[116],"implemented":[118],"architecture":[120],"is":[121],"composed":[122],"four":[124],"modules,":[126,135],"consisting":[127],"one":[129],"parent":[130],"module":[131],"three":[133],"child":[134],"all":[136],"interconnected":[137],"through":[138],"tethering":[140],"paper":[143],"aims":[144],"demonstrate":[146],"capabilities":[148],"tethered":[151],"multi-drone":[152],"performing":[155],"coordinated":[156],"motions":[157],"modules":[160],"payload":[162],"grasping":[163],"flights":[165],"without":[168],"payload.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
