{"id":"https://openalex.org/W4293057563","doi":"https://doi.org/10.1109/vtc2022-spring54318.2022.9860887","title":"SwarmHive: Heterogeneous Swarm of Drones for Robust Autonomous Landing on Moving Robot","display_name":"SwarmHive: Heterogeneous Swarm of Drones for Robust Autonomous Landing on Moving Robot","publication_year":2022,"publication_date":"2022-06-01","ids":{"openalex":"https://openalex.org/W4293057563","doi":"https://doi.org/10.1109/vtc2022-spring54318.2022.9860887"},"language":"en","primary_location":{"id":"doi:10.1109/vtc2022-spring54318.2022.9860887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vtc2022-spring54318.2022.9860887","pdf_url":null,"source":{"id":"https://openalex.org/S4363607744","display_name":"2022 IEEE 95th Vehicular Technology Conference: (VTC2022-Spring)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 95th Vehicular Technology Conference: (VTC2022-Spring)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5031859288","display_name":"Ayush Gupta","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Ayush Gupta","raw_affiliation_strings":["Skoltech,Moscow,Russia","Skoltech, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Skoltech, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051379534","display_name":"Ahmed Baza","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Ahmed Baza","raw_affiliation_strings":["Skoltech,Moscow,Russia","Skoltech, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Skoltech, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027122790","display_name":"Ekaterina Dorzhieva","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Ekaterina Dorzhieva","raw_affiliation_strings":["Skoltech,Moscow,Russia","Skoltech, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Skoltech, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013922888","display_name":"Mert Alper","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Mert Alper","raw_affiliation_strings":["Skoltech,Moscow,Russia","Skoltech, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Skoltech, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110433680","display_name":"\u041c\u0430\u0440\u0438\u044f \u0410\u043b\u0435\u043a\u0441\u0430\u043d\u0434\u0440\u043e\u0432\u043d\u0430 \u041c\u0430\u043a\u0430\u0440\u043e\u0432\u0430","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Mariia Makarova","raw_affiliation_strings":["Skoltech,Moscow,Russia","Skoltech, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Skoltech, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010859433","display_name":"Stepan Perminov","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Stepan Perminov","raw_affiliation_strings":["Skoltech,Moscow,Russia","Skoltech, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Skoltech, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052797806","display_name":"Aleksey Fedoseev","orcid":"https://orcid.org/0000-0003-2506-9111"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Aleksey Fedoseev","raw_affiliation_strings":["Skoltech,Moscow,Russia","Skoltech, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Skoltech, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056458774","display_name":"Dzmitry Tsetserukou","orcid":"https://orcid.org/0000-0001-8055-5345"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dzmitry Tsetserukou","raw_affiliation_strings":["Skoltech,Moscow,Russia","Skoltech, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Skoltech, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125989756"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9993000030517578,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9975000023841858,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.991599977016449,"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/drone","display_name":"Drone","score":0.9569393396377563},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.8818148374557495},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.737341582775116},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6099287867546082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6009663939476013},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5176684856414795},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5004739761352539},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.48502272367477417},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45655056834220886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37205857038497925},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.10850679874420166}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.9569393396377563},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.8818148374557495},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.737341582775116},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6099287867546082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6009663939476013},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5176684856414795},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5004739761352539},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.48502272367477417},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45655056834220886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37205857038497925},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.10850679874420166},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/vtc2022-spring54318.2022.9860887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/vtc2022-spring54318.2022.9860887","pdf_url":null,"source":{"id":"https://openalex.org/S4363607744","display_name":"2022 IEEE 95th Vehicular Technology Conference: (VTC2022-Spring)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 95th Vehicular Technology Conference: (VTC2022-Spring)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2118877769","https://openalex.org/W2125188427","https://openalex.org/W2224364263","https://openalex.org/W2414635881","https://openalex.org/W2517829986","https://openalex.org/W2753728908","https://openalex.org/W2765891159","https://openalex.org/W2767381775","https://openalex.org/W2776254938","https://openalex.org/W2792871855","https://openalex.org/W2897293960","https://openalex.org/W2942895327","https://openalex.org/W2945257455","https://openalex.org/W2955245620","https://openalex.org/W2955730076","https://openalex.org/W2984044401","https://openalex.org/W2991336724","https://openalex.org/W3017794548","https://openalex.org/W3026257098","https://openalex.org/W3085329256","https://openalex.org/W3090857128","https://openalex.org/W3109568064","https://openalex.org/W3118722007","https://openalex.org/W3126211537","https://openalex.org/W3133903794","https://openalex.org/W3181586060","https://openalex.org/W4210509311","https://openalex.org/W6677548441"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4379143281","https://openalex.org/W2605096541","https://openalex.org/W2743170747","https://openalex.org/W4385625905"],"abstract_inverted_index":{"The":[0,29,68,88,134],"paper":[1],"focuses":[2],"on":[3,16,64,99,112],"a":[4,11,17,80,92,100,160],"heterogeneous":[5],"swarm":[6,41,97,110,145],"of":[7,14,35,39,42,95,105,109,121,143,159],"drones":[8,43,70],"to":[9,59,155],"achieve":[10,156],"dynamic":[12],"landing":[13,98,111,142],"formation":[15],"moving":[18,116],"robot.":[19],"This":[20,150],"challenging":[21],"task":[22],"was":[23],"not":[24],"yet":[25],"achieved":[26],"by":[27],"scientists.":[28],"key":[30],"technology":[31,137],"is":[32],"that":[33,47],"instead":[34],"facilitating":[36],"each":[37],"agent":[38],"the":[40,50,54,65,72,75,84,96,113,118,140,144],"with":[44,83,117],"computer":[45],"vision":[46],"considerably":[48],"increases":[49],"payload":[51],"and":[52,78,124,130,171,178],"shortens":[53],"flight":[55],"time,":[56],"we":[57],"propose":[58],"install":[60],"only":[61],"one":[62],"camera":[63],"leader":[66,76],"drone.":[67],"follower":[69],"receive":[71],"commands":[73],"from":[74],"UAV":[77],"maintain":[79],"collision-free":[81],"trajectory":[82],"artificial":[85],"potential":[86],"field.":[87],"experimental":[89],"results":[90],"revealed":[91],"high":[93],"accuracy":[94],"static":[101],"mobile":[102,114],"platform":[103,115],"(RMSE":[104],"4.48":[106],"cm).":[107],"RMSE":[108],"maximum":[119],"velocities":[120],"1.0":[122],"m/s":[123,126],"1.5":[125],"equals":[127],"8.76":[128],"cm":[129],"8.98":[131],"cm,":[132],"respectively.":[133],"proposed":[135],"SwarmHive":[136],"will":[138,151],"allow":[139],"time-saving":[141],"for":[146,164],"further":[147],"drone":[148],"recharging.":[149],"make":[152],"it":[153],"possible":[154],"self-sustainable":[157],"operation":[158],"multi-agent":[161],"robotic":[162],"system":[163],"such":[165],"scenarios":[166],"as":[167],"rescue":[168],"operations,":[169],"inspection":[170],"maintenance,":[172],"autonomous":[173],"warehouse":[174],"inventory,":[175],"cargo":[176],"delivery,":[177],"etc.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}