{"id":"https://openalex.org/W3011524659","doi":"https://doi.org/10.1126/scirobotics.aaz9712","title":"Dynamic obstacle avoidance for quadrotors with event cameras","display_name":"Dynamic obstacle avoidance for quadrotors with event cameras","publication_year":2020,"publication_date":"2020-03-18","ids":{"openalex":"https://openalex.org/W3011524659","doi":"https://doi.org/10.1126/scirobotics.aaz9712","mag":"3011524659","pmid":"https://pubmed.ncbi.nlm.nih.gov/33022598"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.aaz9712","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aaz9712","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","datacite","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061192739","display_name":"Davide Falanga","orcid":"https://orcid.org/0000-0002-7878-4621"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Davide Falanga","raw_affiliation_strings":["Department of Informatics, University of Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071467549","display_name":"Kevin Kleber","orcid":null},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Kevin Kleber","raw_affiliation_strings":["Department of Informatics, University of Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["Department of Informatics, University of Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5061192739"],"corresponding_institution_ids":["https://openalex.org/I202697423"],"apc_list":null,"apc_paid":null,"fwci":268.5437,"has_fulltext":false,"cited_by_count":322,"citation_normalized_percentile":{"value":0.99989331,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"5","issue":"40","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.9994999766349792,"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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7997097373008728},{"id":"https://openalex.org/keywords/millisecond","display_name":"Millisecond","score":0.6918461322784424},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.6904396414756775},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.6099401116371155},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.5965378284454346},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5749197006225586},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.566128134727478},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5630077123641968},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5151444673538208},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5109507441520691},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4985489845275879},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4501096308231354},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.42930716276168823},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2673342227935791},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12419846653938293},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08426061272621155}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7997097373008728},{"id":"https://openalex.org/C60327585","wikidata":"https://www.wikidata.org/wiki/Q723733","display_name":"Millisecond","level":2,"score":0.6918461322784424},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.6904396414756775},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.6099401116371155},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.5965378284454346},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5749197006225586},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.566128134727478},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5630077123641968},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5151444673538208},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5109507441520691},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4985489845275879},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4501096308231354},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.42930716276168823},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2673342227935791},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12419846653938293},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08426061272621155},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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":4,"locations":[{"id":"doi:10.1126/scirobotics.aaz9712","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aaz9712","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:33022598","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33022598","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:www.zora.uzh.ch:197705","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Falanga, Davide; Kleber, Kevin; Scaramuzza, Davide  (2020). Dynamic obstacle avoidance for quadrotors with event cameras.  Science Robotics, 5(40):eaaz9712.","raw_type":"info:eu-repo/semantics/acceptedVersion"},{"id":"doi:10.5167/uzh-197705","is_oa":true,"landing_page_url":"https://doi.org/10.5167/uzh-197705","pdf_url":null,"source":{"id":"https://openalex.org/S7407051291","display_name":"Universit\u00e4t Z\u00fcrich, ZORA","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:www.zora.uzh.ch:197705","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401281","display_name":"Zurich Open Repository and Archive (University of Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I202697423","host_organization_name":"University of Zurich","host_organization_lineage":["https://openalex.org/I202697423"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Falanga, Davide; Kleber, Kevin; Scaramuzza, Davide  (2020). Dynamic obstacle avoidance for quadrotors with event cameras.  Science Robotics, 5(40):eaaz9712.","raw_type":"info:eu-repo/semantics/acceptedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1522458522","https://openalex.org/W1673310716","https://openalex.org/W2006983684","https://openalex.org/W2016574277","https://openalex.org/W2021027097","https://openalex.org/W2035379092","https://openalex.org/W2070304943","https://openalex.org/W2077275997","https://openalex.org/W2090559989","https://openalex.org/W2091767348","https://openalex.org/W2103120971","https://openalex.org/W2104332709","https://openalex.org/W2105934661","https://openalex.org/W2109284574","https://openalex.org/W2127752689","https://openalex.org/W2144205281","https://openalex.org/W2158955701","https://openalex.org/W2160728037","https://openalex.org/W2181845023","https://openalex.org/W2214613866","https://openalex.org/W2290655987","https://openalex.org/W2343449569","https://openalex.org/W2395047452","https://openalex.org/W2410630689","https://openalex.org/W2501620068","https://openalex.org/W2509493982","https://openalex.org/W2567081279","https://openalex.org/W2603800188","https://openalex.org/W2732510496","https://openalex.org/W2735936361","https://openalex.org/W2739434881","https://openalex.org/W2769498435","https://openalex.org/W2769990600","https://openalex.org/W2771926486","https://openalex.org/W2775178320","https://openalex.org/W2783185291","https://openalex.org/W2789435382","https://openalex.org/W2885018286","https://openalex.org/W2913365477","https://openalex.org/W2992384714","https://openalex.org/W3099039688","https://openalex.org/W3099629894","https://openalex.org/W3101118898","https://openalex.org/W4226051885","https://openalex.org/W4243385754"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510","https://openalex.org/W2380528717"],"abstract_inverted_index":{"Today's":[0],"autonomous":[1,145],"drones":[2,27],"have":[3],"reaction":[4,47],"times":[5,48],"of":[6,8,49,97,106,121,133,140,157,161],"tens":[7],"milliseconds,":[9,124],"which":[10,42,125],"is":[11,100,126],"not":[12,101],"enough":[13],"for":[14,128],"navigating":[15],"fast":[16,24,72],"in":[17,58],"complex":[18],"dynamic":[19,67],"environments.":[20],"To":[21],"safely":[22],"avoid":[23,81],"moving":[25],"objects,":[26],"need":[28],"low-latency":[29],"sensors":[30,45,99],"and":[31,66,69,131,151,164,175],"algorithms.":[32],"We":[33,136],"departed":[34],"from":[35],"state-of-the-art":[36],"approaches":[37],"by":[38],"using":[39,147],"event":[40,60,92],"cameras,":[41],"are":[43],"bioinspired":[44],"with":[46],"microseconds.":[50],"Our":[51,114,153],"approach":[52,142],"exploits":[53],"the":[54,59,76,82,95,138],"temporal":[55],"information":[56],"contained":[57],"stream":[61,105],"to":[62,74,80,91,170],"distinguish":[63],"between":[64],"static":[65],"objects":[68],"leverages":[70],"a":[71,104],"strategy":[73],"generate":[75],"motor":[77],"commands":[78],"necessary":[79],"approaching":[83],"obstacles.":[84,135],"Standard":[85],"vision":[86],"algorithms":[87],"cannot":[88],"be":[89],"applied":[90],"cameras":[93],"because":[94],"output":[96],"these":[98],"images":[102],"but":[103],"asynchronous":[107],"events":[108],"that":[109],"encode":[110],"per-pixel":[111],"intensity":[112],"changes.":[113],"resulting":[115],"algorithm":[116],"has":[117],"an":[118,144],"overall":[119],"latency":[120],"only":[122,148],"3.5":[123],"sufficient":[127],"reliable":[129],"detection":[130],"avoidance":[132],"fast-moving":[134],"demonstrate":[137],"effectiveness":[139],"our":[141],"on":[143],"quadrotor":[146],"onboard":[149],"sensing":[150],"computation.":[152],"drone":[154],"was":[155],"capable":[156],"avoiding":[158],"multiple":[159],"obstacles":[160],"different":[162],"sizes":[163],"shapes,":[165],"at":[166],"relative":[167],"speeds":[168],"up":[169],"10":[171],"meters/second,":[172],"both":[173],"indoors":[174],"outdoors.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":11},{"year":2025,"cited_by_count":72},{"year":2024,"cited_by_count":73},{"year":2023,"cited_by_count":63},{"year":2022,"cited_by_count":46},{"year":2021,"cited_by_count":47},{"year":2020,"cited_by_count":9},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-07T14:57:38.498316","created_date":"2025-10-10T00:00:00"}
