{"id":"https://openalex.org/W2981762858","doi":"https://doi.org/10.1126/scirobotics.aaw9710","title":"Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment","display_name":"Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment","publication_year":2019,"publication_date":"2019-10-23","ids":{"openalex":"https://openalex.org/W2981762858","doi":"https://doi.org/10.1126/scirobotics.aaw9710","mag":"2981762858","pmid":"https://pubmed.ncbi.nlm.nih.gov/33137730"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.aaw9710","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aaw9710","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2066/214783","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033664069","display_name":"Kimberly McGuire","orcid":"https://orcid.org/0000-0002-5003-2049"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"K. N. McGuire","raw_affiliation_strings":["Faculty of Aerospace Engineering, Delft University of Technology, Delft, Netherlands"],"affiliations":[{"raw_affiliation_string":"Faculty of Aerospace Engineering, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000649174","display_name":"Christophe De Wagter","orcid":"https://orcid.org/0000-0002-6795-8454"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"C. De Wagter","raw_affiliation_strings":["Faculty of Aerospace Engineering, Delft University of Technology, Delft, Netherlands"],"affiliations":[{"raw_affiliation_string":"Faculty of Aerospace Engineering, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008547992","display_name":"Karl Tuyls","orcid":"https://orcid.org/0000-0001-7929-1944"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"K. Tuyls","raw_affiliation_strings":["Department of Computer Science, University of Liverpool, Liverpool, UK"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, Liverpool, UK","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050819882","display_name":"Hilbert J. Kappen","orcid":"https://orcid.org/0000-0002-5728-3676"},"institutions":[{"id":"https://openalex.org/I145872427","display_name":"Radboud University Nijmegen","ror":"https://ror.org/016xsfp80","country_code":"NL","type":"education","lineage":["https://openalex.org/I145872427"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"H. J. Kappen","raw_affiliation_strings":["Faculty of Science, Radboud University, Nijmegen, Netherlands"],"affiliations":[{"raw_affiliation_string":"Faculty of Science, Radboud University, Nijmegen, Netherlands","institution_ids":["https://openalex.org/I145872427"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058902676","display_name":"Guido de Croon","orcid":"https://orcid.org/0000-0001-8265-1496"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"G. C. H. E. de Croon","raw_affiliation_strings":["Faculty of Aerospace Engineering, Delft University of Technology, Delft, Netherlands"],"affiliations":[{"raw_affiliation_string":"Faculty of Aerospace Engineering, Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5033664069","https://openalex.org/A5058902676"],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":16.0013,"has_fulltext":false,"cited_by_count":265,"citation_normalized_percentile":{"value":0.99679038,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"4","issue":"35","first_page":null,"last_page":null},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9979000091552734,"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/robot","display_name":"Robot","score":0.7923338413238525},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.726652979850769},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6542381048202515},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.5182631015777588},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5089249610900879},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4875139892101288},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.44048383831977844},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3688220977783203},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3265947699546814},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09230124950408936}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7923338413238525},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.726652979850769},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6542381048202515},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.5182631015777588},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5089249610900879},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4875139892101288},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44048383831977844},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3688220977783203},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3265947699546814},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09230124950408936}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1126/scirobotics.aaw9710","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aaw9710","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:33137730","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33137730","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null},{"id":"pmh:oai:repository.ubn.ru.nl:2066/214783","is_oa":false,"landing_page_url":"https://hdl.handle.net/2066/214783","pdf_url":null,"source":{"id":"https://openalex.org/S4306401067","display_name":"Radboud Repository (Radboud University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I145872427","host_organization_name":"Radboud University Nijmegen","host_organization_lineage":["https://openalex.org/I145872427"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article / Letter to editor"},{"id":"pmh:ru:oai:repository.ubn.ru.nl:2066/214783","is_oa":true,"landing_page_url":"http://hdl.handle.net/2066/214783","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Science Robotics, 4, 1+","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:ru:oai:repository.ubn.ru.nl:2066/214783","is_oa":true,"landing_page_url":"http://hdl.handle.net/2066/214783","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Science Robotics, 4, 1+","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2411297295","display_name":null,"funder_award_id":"656.000.006","funder_id":"https://openalex.org/F4320321800","funder_display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek"}],"funders":[{"id":"https://openalex.org/F4320321800","display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek","ror":"https://ror.org/04jsz6e67"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W20440755","https://openalex.org/W612478963","https://openalex.org/W1518672027","https://openalex.org/W1562619934","https://openalex.org/W1840337046","https://openalex.org/W1968683707","https://openalex.org/W1979266466","https://openalex.org/W1996542214","https://openalex.org/W2000123615","https://openalex.org/W2001741729","https://openalex.org/W2009897173","https://openalex.org/W2017150251","https://openalex.org/W2020890121","https://openalex.org/W2029259235","https://openalex.org/W2030775133","https://openalex.org/W2035155402","https://openalex.org/W2037971631","https://openalex.org/W2050484682","https://openalex.org/W2054442768","https://openalex.org/W2055034398","https://openalex.org/W2055435213","https://openalex.org/W2061745415","https://openalex.org/W2062460922","https://openalex.org/W2098412395","https://openalex.org/W2101502731","https://openalex.org/W2113767638","https://openalex.org/W2130403883","https://openalex.org/W2163680768","https://openalex.org/W2167708614","https://openalex.org/W2270784458","https://openalex.org/W2413071504","https://openalex.org/W2544041682","https://openalex.org/W2547074464","https://openalex.org/W2582119245","https://openalex.org/W2602214361","https://openalex.org/W2605735511","https://openalex.org/W2768263061","https://openalex.org/W2786318586","https://openalex.org/W2789328061","https://openalex.org/W2789410150","https://openalex.org/W2794268423","https://openalex.org/W2884236119","https://openalex.org/W2906539009","https://openalex.org/W2906952506","https://openalex.org/W2909953480","https://openalex.org/W2914693969","https://openalex.org/W2955102412","https://openalex.org/W2962989460","https://openalex.org/W2964206852","https://openalex.org/W2969897047","https://openalex.org/W2981762858","https://openalex.org/W3103278230"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W65954170","https://openalex.org/W1988876749","https://openalex.org/W3094438089","https://openalex.org/W2518382144","https://openalex.org/W1966857494","https://openalex.org/W2901195353","https://openalex.org/W2590712470","https://openalex.org/W2530004804"],"abstract_inverted_index":{"Swarms":[0],"of":[1,41,47,53,98,146,187,195],"tiny":[2,99],"flying":[3,100],"robots":[4,66,101,121,132,173,219],"hold":[5],"great":[6],"potential":[7,208],"for":[8,30,241],"exploring":[9],"unknown,":[10],"indoor":[11],"environments.":[12],"Their":[13],"small":[14],"size":[15],"allows":[16,95,192],"them":[17,28],"to":[18,44,102,112,158,168,200,222,233],"move":[19],"in":[20,123,216,225,250],"narrow":[21],"spaces,":[22],"and":[23,74,108,136,149,161,237],"their":[24],"light":[25],"weight":[26],"makes":[27],"safe":[29],"operating":[31],"around":[32],"humans.":[33],"Until":[34],"now,":[35],"this":[36],"task":[37],"has":[38],"been":[39],"out":[40],"reach":[42],"due":[43],"the":[45,65,84,113,128,134,142,169,172,184,218,239,251],"lack":[46],"adequate":[48],"navigation":[49,92],"strategies.":[50],"The":[51,131,206,229],"absence":[52],"external":[54],"infrastructure":[55],"implies":[56],"that":[57,94,190],"any":[58],"positioning":[59],"attempts":[60],"must":[61],"be":[62],"performed":[63],"by":[64,119,144,211],"themselves.":[67],"State-of-the-art":[68],"solutions,":[69],"such":[70],"as":[71],"simultaneous":[72],"localization":[73],"mapping,":[75],"are":[76],"still":[77],"too":[78],"resource":[79],"demanding.":[80],"This":[81],"article":[82],"presents":[83],"swarm":[85,97],"gradient":[86,176],"bug":[87],"algorithm":[88],"(SGBA),":[89],"a":[90,96,175,179,193,203,212],"minimal":[91],"solution":[93],"autonomously":[103],"explore":[104,202],"an":[105,226],"unknown":[106],"environment":[107,135],"subsequently":[109],"come":[110,166],"back":[111,167],"departure":[114,129,170],"point.":[115,130],"SGBA":[116],"maximizes":[117],"coverage":[118],"having":[120],"travel":[122],"different":[124],"directions":[125],"away":[126],"from":[127],"navigate":[133],"deal":[137],"with":[138,155,247],"static":[139],"obstacles":[140],"on":[141],"fly":[143],"means":[145],"visual":[147],"odometry":[148],"wall-following":[150],"behaviors.":[151],"Moreover,":[152],"they":[153],"communicate":[154],"each":[156],"other":[157,234,243],"avoid":[159],"collisions":[160],"maximize":[162],"search":[163,177],"efficiency.":[164],"To":[165],"point,":[171],"perform":[174],"toward":[178],"home":[180],"beacon.":[181],"We":[182],"studied":[183],"collective":[185],"aspects":[186],"SGBA,":[188],"demonstrating":[189],"it":[191],"group":[194],"33-g":[196],"commercial":[197],"off-the-shelf":[198],"quadrotors":[199],"successfully":[201],"real-world":[204],"environment.":[205,228],"application":[207],"is":[209],"illustrated":[210],"proof-of-concept":[213],"search-and-rescue":[214],"mission":[215],"which":[217],"captured":[220],"images":[221],"find":[223],"\"victims\"":[224],"office":[227],"developed":[230],"algorithms":[231],"generalize":[232],"robot":[235,248],"types":[236],"lay":[238],"basis":[240],"tackling":[242],"similarly":[244],"complex":[245],"missions":[246],"swarms":[249],"future.":[252]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":45},{"year":2024,"cited_by_count":45},{"year":2023,"cited_by_count":58},{"year":2022,"cited_by_count":45},{"year":2021,"cited_by_count":40},{"year":2020,"cited_by_count":21},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-07T14:57:38.498316","created_date":"2025-10-10T00:00:00"}
