{"id":"https://openalex.org/W4229007520","doi":"https://doi.org/10.1126/scirobotics.abm5954","title":"Swarm of micro flying robots in the wild","display_name":"Swarm of micro flying robots in the wild","publication_year":2022,"publication_date":"2022-05-04","ids":{"openalex":"https://openalex.org/W4229007520","doi":"https://doi.org/10.1126/scirobotics.abm5954","pmid":"https://pubmed.ncbi.nlm.nih.gov/35507682"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.abm5954","is_oa":true,"landing_page_url":"https://doi.org/10.1126/scirobotics.abm5954","pdf_url":"https://www.science.org/cms/asset/b72475e2-3f97-49f2-bd3b-635cd5df370e/scirobotics.abm5954.v1.pdf","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":"bronze","oa_url":"https://www.science.org/cms/asset/b72475e2-3f97-49f2-bd3b-635cd5df370e/scirobotics.abm5954.v1.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042314889","display_name":"Xin Zhou","orcid":"https://orcid.org/0000-0001-5484-205X"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Zhou","raw_affiliation_strings":["Huzhou Institute of Zhejiang University, Huzhou, China","State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049998729","display_name":"Xiangyong Wen","orcid":"https://orcid.org/0000-0002-4409-9095"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyong Wen","raw_affiliation_strings":["Huzhou Institute of Zhejiang University, Huzhou, China","State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000750647","display_name":"Zhepei Wang","orcid":"https://orcid.org/0000-0002-2032-258X"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhepei Wang","raw_affiliation_strings":["Huzhou Institute of Zhejiang University, Huzhou, China","State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074885429","display_name":"Yuman Gao","orcid":"https://orcid.org/0000-0002-0377-770X"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuman Gao","raw_affiliation_strings":["Huzhou Institute of Zhejiang University, Huzhou, China","State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008639387","display_name":"Haojia Li","orcid":"https://orcid.org/0000-0002-4667-0419"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Haojia Li","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hongkong, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hongkong, China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072479087","display_name":"Qianhao Wang","orcid":"https://orcid.org/0000-0001-5157-4205"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianhao Wang","raw_affiliation_strings":["Huzhou Institute of Zhejiang University, Huzhou, China","State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101961942","display_name":"Tiankai Yang","orcid":"https://orcid.org/0000-0001-8203-085X"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiankai Yang","raw_affiliation_strings":["Huzhou Institute of Zhejiang University, Huzhou, China","State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057948288","display_name":"Haojian Lu","orcid":"https://orcid.org/0000-0002-1393-3040"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haojian Lu","raw_affiliation_strings":["State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052272297","display_name":"Yanjun Cao","orcid":"https://orcid.org/0000-0001-7771-849X"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjun Cao","raw_affiliation_strings":["Huzhou Institute of Zhejiang University, Huzhou, China"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050543156","display_name":"Chao Xu","orcid":"https://orcid.org/0000-0002-2759-6364"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chao Xu","raw_affiliation_strings":["Huzhou Institute of Zhejiang University, Huzhou, China","State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086914377","display_name":"Fei Gao","orcid":"https://orcid.org/0000-0002-6513-374X"},"institutions":[{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fei Gao","raw_affiliation_strings":["Huzhou Institute of Zhejiang University, Huzhou, China","State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Huzhou Institute of Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]},{"raw_affiliation_string":"State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5050543156","https://openalex.org/A5086914377"],"corresponding_institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":49.4357,"has_fulltext":false,"cited_by_count":523,"citation_normalized_percentile":{"value":0.99928724,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"7","issue":"66","first_page":"eabm5954","last_page":"eabm5954"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994000196456909,"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/T11133","display_name":"UAV Applications and Optimization","score":0.993399977684021,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.8392887115478516},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.760975182056427},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.7240756750106812},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7032078504562378},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.6999847292900085},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6572026610374451},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6485917568206787},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5633091926574707},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5561109781265259},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5118333697319031},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4685301184654236},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.46296051144599915},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4550051689147949},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4442228674888611},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4421147108078003},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.41985538601875305},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3504858613014221},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3426866829395294},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24332186579704285},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.0898466408252716},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.08159580826759338}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.8392887115478516},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.760975182056427},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.7240756750106812},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7032078504562378},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.6999847292900085},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6572026610374451},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6485917568206787},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5633091926574707},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5561109781265259},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5118333697319031},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4685301184654236},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.46296051144599915},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4550051689147949},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4442228674888611},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4421147108078003},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.41985538601875305},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3504858613014221},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3426866829395294},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24332186579704285},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0898466408252716},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.08159580826759338},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013064","descriptor_name":"Speech Disorders","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013064","descriptor_name":"Speech Disorders","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013064","descriptor_name":"Speech Disorders","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013177","descriptor_name":"Sports","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013177","descriptor_name":"Sports","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013177","descriptor_name":"Sports","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D019985","descriptor_name":"Benchmarking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019985","descriptor_name":"Benchmarking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D019985","descriptor_name":"Benchmarking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":4,"locations":[{"id":"doi:10.1126/scirobotics.abm5954","is_oa":true,"landing_page_url":"https://doi.org/10.1126/scirobotics.abm5954","pdf_url":"https://www.science.org/cms/asset/b72475e2-3f97-49f2-bd3b-635cd5df370e/scirobotics.abm5954.v1.pdf","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:35507682","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35507682","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.hkust.edu.hk:1783.1-117114","is_oa":false,"landing_page_url":"http://gateway.isiknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=LinksAMR&SrcApp=PARTNER_APP&DestLinkType=FullRecord&DestApp=WOS&KeyUT=000797982600001","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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"},{"id":"pmh:oai:repository.ust.hk:1783.1-117114","is_oa":false,"landing_page_url":"http://repository.ust.hk/ir/Record/1783.1-117114","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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"}],"best_oa_location":{"id":"doi:10.1126/scirobotics.abm5954","is_oa":true,"landing_page_url":"https://doi.org/10.1126/scirobotics.abm5954","pdf_url":"https://www.science.org/cms/asset/b72475e2-3f97-49f2-bd3b-635cd5df370e/scirobotics.abm5954.v1.pdf","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"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4229007520.pdf","grobid_xml":"https://content.openalex.org/works/W4229007520.grobid-xml"},"referenced_works_count":52,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W306312984","https://openalex.org/W1578294898","https://openalex.org/W1990675631","https://openalex.org/W2013000222","https://openalex.org/W2062731992","https://openalex.org/W2082314531","https://openalex.org/W2107292630","https://openalex.org/W2130403883","https://openalex.org/W2140196014","https://openalex.org/W2154418813","https://openalex.org/W2162870748","https://openalex.org/W2162991084","https://openalex.org/W2171461698","https://openalex.org/W2334969600","https://openalex.org/W2482392012","https://openalex.org/W2557430988","https://openalex.org/W2565919573","https://openalex.org/W2737617799","https://openalex.org/W2744979297","https://openalex.org/W2745471877","https://openalex.org/W2745859992","https://openalex.org/W2769366837","https://openalex.org/W2789284452","https://openalex.org/W2789343279","https://openalex.org/W2790268363","https://openalex.org/W2884236119","https://openalex.org/W2886374915","https://openalex.org/W2913365477","https://openalex.org/W2914859139","https://openalex.org/W2949691147","https://openalex.org/W2962987986","https://openalex.org/W2981762858","https://openalex.org/W3003747652","https://openalex.org/W3009014935","https://openalex.org/W3012268014","https://openalex.org/W3029808435","https://openalex.org/W3089723250","https://openalex.org/W3091037752","https://openalex.org/W3102365391","https://openalex.org/W3114626444","https://openalex.org/W3117629052","https://openalex.org/W3118665117","https://openalex.org/W3183413118","https://openalex.org/W3185165122","https://openalex.org/W3186145514","https://openalex.org/W3207242828","https://openalex.org/W3207644545","https://openalex.org/W4229007520","https://openalex.org/W4234406933","https://openalex.org/W4237238238","https://openalex.org/W4255045719"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W65954170","https://openalex.org/W1988876749","https://openalex.org/W2518382144","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166","https://openalex.org/W2787547275","https://openalex.org/W1600534566"],"abstract_inverted_index":{"Aerial":[0],"robots":[1],"are":[2],"widely":[3],"deployed,":[4],"but":[5,53],"highly":[6],"cluttered":[7,198],"environments":[8],"such":[9],"as":[10,208],"dense":[11],"forests":[12],"remain":[13],"inaccessible":[14],"to":[15,21,202],"drones":[16,56],"and":[17,31,67,89,97,112,161,175,206],"even":[18,140],"more":[19],"so":[20,98],"swarms":[22],"of":[23,37,169,185,197],"drones.":[24],"In":[25],"these":[26],"scenarios,":[27],"previously":[28],"unknown":[29],"surroundings":[30],"narrow":[32],"corridors":[33],"combined":[34],"with":[35,57,157],"requirements":[36,83],"swarm":[38,45,95,155,210],"coordination":[39,207],"can":[40,62,126],"create":[41],"challenges.":[42],"To":[43],"enable":[44],"navigation":[46],"in":[47,64,141,172,193],"the":[48,106,132,142,152,166,170,183],"wild,":[49],"we":[50],"develop":[51],"miniature":[52],"fully":[54],"autonomous":[55],"a":[58,65,137,209],"trajectory":[59,110,124,173],"planner":[60,108,147,171],"that":[61],"function":[63],"timely":[66],"accurate":[68],"manner":[69],"based":[70,117],"on":[71,118],"limited":[72],"information":[73],"from":[74],"onboard":[75,158],"sensors.":[76],"The":[77,146],"planning":[78],"problem":[79],"satisfies":[80],"various":[81],"task":[82,204],"including":[84],"flight":[85],"efficiency,":[86],"obstacle":[87],"avoidance,":[88,92],"inter-robot":[90],"collision":[91],"dynamical":[93],"feasibility,":[94],"coordination,":[96],"on,":[99],"thus":[100,125],"realizing":[101],"an":[102],"extensible":[103],"planner.":[104],"Furthermore,":[105],"proposed":[107],"deforms":[109],"shapes":[111],"adjusts":[113],"time":[114],"allocation":[115],"synchronously":[116],"spatial-temporal":[119],"joint":[120],"optimization.":[121],"A":[122],"high-quality":[123],"be":[127],"obtained":[128],"after":[129],"exhaustively":[130],"exploiting":[131],"solution":[133],"space":[134],"within":[135],"only":[136],"few":[138],"milliseconds,":[139],"most":[143],"constrained":[144],"environment.":[145],"is":[148],"finally":[149],"integrated":[150],"into":[151],"developed":[153],"palm-sized":[154],"platform":[156],"perception,":[159],"localization,":[160],"control.":[162],"Benchmark":[163],"comparisons":[164],"validate":[165],"superior":[167],"performance":[168],"quality":[174],"computing":[176],"time.":[177],"Various":[178],"real-world":[179],"field":[180],"experiments":[181],"demonstrate":[182],"extensibility":[184,201],"our":[186],"system.":[187],"Our":[188],"approach":[189],"evolves":[190],"aerial":[191],"robotics":[192],"three":[194],"aspects:":[195],"capability":[196],"environment":[199],"navigation,":[200],"diverse":[203],"requirements,":[205],"without":[211],"external":[212],"facilities.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":39},{"year":2025,"cited_by_count":203},{"year":2024,"cited_by_count":143},{"year":2023,"cited_by_count":113},{"year":2022,"cited_by_count":25}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
