{"id":"https://openalex.org/W7140286090","doi":"https://doi.org/10.1126/scirobotics.adz9609","title":"Milliwatt ultrasound for navigation in visually degraded environments on palm-sized aerial robots","display_name":"Milliwatt ultrasound for navigation in visually degraded environments on palm-sized aerial robots","publication_year":2026,"publication_date":"2026-03-25","ids":{"openalex":"https://openalex.org/W7140286090","doi":"https://doi.org/10.1126/scirobotics.adz9609","pmid":"https://pubmed.ncbi.nlm.nih.gov/41880528"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.adz9609","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adz9609","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":["arxiv","crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2603.24699","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034108634","display_name":"Manoj Velmurugan","orcid":"https://orcid.org/0000-0003-4467-4683"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Manoj Velmurugan","raw_affiliation_strings":["Perception and Autonomous Robotics (PeAR) Group, Worcester Polytechnic Institute, Worcester, MA 01609, USA"],"raw_orcid":"https://orcid.org/0000-0003-4467-4683","affiliations":[{"raw_affiliation_string":"Perception and Autonomous Robotics (PeAR) Group, Worcester Polytechnic Institute, Worcester, MA 01609, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128763521","display_name":"Phillip Brush","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Phillip Brush","raw_affiliation_strings":["Perception and Autonomous Robotics (PeAR) Group, Worcester Polytechnic Institute, Worcester, MA 01609, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Perception and Autonomous Robotics (PeAR) Group, Worcester Polytechnic Institute, Worcester, MA 01609, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038635842","display_name":"Colin Balfour","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Colin Balfour","raw_affiliation_strings":["Perception and Autonomous Robotics (PeAR) Group, Worcester Polytechnic Institute, Worcester, MA 01609, USA"],"raw_orcid":"https://orcid.org/0009-0009-5809-5165","affiliations":[{"raw_affiliation_string":"Perception and Autonomous Robotics (PeAR) Group, Worcester Polytechnic Institute, Worcester, MA 01609, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015084682","display_name":"Richard J. Przybyla","orcid":"https://orcid.org/0000-0003-3053-7127"},"institutions":[{"id":"https://openalex.org/I187576290","display_name":"Universidade Paranaense","ror":"https://ror.org/0084z7g54","country_code":"BR","type":"education","lineage":["https://openalex.org/I187576290"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Richard J. Przybyla","raw_affiliation_strings":["TDK InvenSense, Berkeley, CA 94710, USA"],"raw_orcid":"https://orcid.org/0000-0003-3053-7127","affiliations":[{"raw_affiliation_string":"TDK InvenSense, Berkeley, CA 94710, USA","institution_ids":["https://openalex.org/I187576290"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5122854901","display_name":"Nitin J. Sanket","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nitin J. Sanket","raw_affiliation_strings":["Perception and Autonomous Robotics (PeAR) Group, Worcester Polytechnic Institute, Worcester, MA 01609, USA"],"raw_orcid":"https://orcid.org/0000-0001-9681-7602","affiliations":[{"raw_affiliation_string":"Perception and Autonomous Robotics (PeAR) Group, Worcester Polytechnic Institute, Worcester, MA 01609, USA","institution_ids":["https://openalex.org/I107077323"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5122854901"],"corresponding_institution_ids":["https://openalex.org/I107077323"],"apc_list":null,"apc_paid":null,"fwci":42.0826,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.99489031,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"11","issue":"112","first_page":"eadz9609","last_page":"eadz9609"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2556999921798706,"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":0.2556999921798706,"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/T11038","display_name":"Advanced SAR Imaging Techniques","score":0.10779999941587448,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.0940999984741211,"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/ranging","display_name":"Ranging","score":0.6947000026702881},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5684999823570251},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.515999972820282},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5148000121116638},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.46230000257492065},{"id":"https://openalex.org/keywords/noise-reduction","display_name":"Noise reduction","score":0.45579999685287476},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4377000033855438},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.39879998564720154},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.36500000953674316}],"concepts":[{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.6947000026702881},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.67330002784729},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6676999926567078},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6251999735832214},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5684999823570251},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.515999972820282},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5148000121116638},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.46230000257492065},{"id":"https://openalex.org/C163294075","wikidata":"https://www.wikidata.org/wiki/Q581861","display_name":"Noise reduction","level":2,"score":0.45579999685287476},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4377000033855438},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.39879998564720154},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.36500000953674316},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.34389999508857727},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32820001244544983},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.3262999951839447},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.3255000114440918},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31940001249313354},{"id":"https://openalex.org/C100675267","wikidata":"https://www.wikidata.org/wiki/Q1371624","display_name":"Background noise","level":2,"score":0.3176000118255615},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.298799991607666},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.2985000014305115},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.29840001463890076},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.29269999265670776},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.2881999909877777},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2849999964237213},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.28209999203681946},{"id":"https://openalex.org/C180940675","wikidata":"https://www.wikidata.org/wiki/Q7575045","display_name":"Speckle noise","level":3,"score":0.27070000767707825},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.2574999928474426}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1126/scirobotics.adz9609","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adz9609","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:41880528","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41880528","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:arXiv.org:2603.24699","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2603.24699","pdf_url":"https://arxiv.org/pdf/2603.24699","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2603.24699","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2603.24699","pdf_url":"https://arxiv.org/pdf/2603.24699","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7426742965","display_name":null,"funder_award_id":"CMMI 2516439","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":81,"referenced_works":["https://openalex.org/W1518672027","https://openalex.org/W1550296524","https://openalex.org/W1611347541","https://openalex.org/W1901129140","https://openalex.org/W1988242483","https://openalex.org/W2005995267","https://openalex.org/W2010428117","https://openalex.org/W2011406421","https://openalex.org/W2017223070","https://openalex.org/W2023974838","https://openalex.org/W2051972052","https://openalex.org/W2057276214","https://openalex.org/W2067711192","https://openalex.org/W2087802557","https://openalex.org/W2105382820","https://openalex.org/W2105641481","https://openalex.org/W2109606373","https://openalex.org/W2114041881","https://openalex.org/W2129500293","https://openalex.org/W2129747061","https://openalex.org/W2140362197","https://openalex.org/W2144275666","https://openalex.org/W2147982258","https://openalex.org/W2154418813","https://openalex.org/W2171898086","https://openalex.org/W2213725613","https://openalex.org/W2377356076","https://openalex.org/W2471962767","https://openalex.org/W2565074442","https://openalex.org/W2738820790","https://openalex.org/W2744253785","https://openalex.org/W2766080216","https://openalex.org/W2772993772","https://openalex.org/W2773038737","https://openalex.org/W2799265886","https://openalex.org/W2891766795","https://openalex.org/W2921469264","https://openalex.org/W2956039874","https://openalex.org/W2997532328","https://openalex.org/W3011524659","https://openalex.org/W3014229381","https://openalex.org/W3021915322","https://openalex.org/W3027898822","https://openalex.org/W3088257051","https://openalex.org/W3089944088","https://openalex.org/W3091146474","https://openalex.org/W3124468164","https://openalex.org/W3130113843","https://openalex.org/W3153486053","https://openalex.org/W3174507041","https://openalex.org/W3185877016","https://openalex.org/W3190063049","https://openalex.org/W3193006296","https://openalex.org/W3206396469","https://openalex.org/W4206446369","https://openalex.org/W4229007520","https://openalex.org/W4234282793","https://openalex.org/W4281479885","https://openalex.org/W4282919408","https://openalex.org/W4283656348","https://openalex.org/W4288391532","https://openalex.org/W4294993033","https://openalex.org/W4322731823","https://openalex.org/W4385423519","https://openalex.org/W4385858105","https://openalex.org/W4386285856","https://openalex.org/W4386963183","https://openalex.org/W4388820033","https://openalex.org/W4394564273","https://openalex.org/W4400646281","https://openalex.org/W4401808584","https://openalex.org/W4404102025","https://openalex.org/W4404238400","https://openalex.org/W4404303842","https://openalex.org/W4404849516","https://openalex.org/W4405520774","https://openalex.org/W4405926999","https://openalex.org/W4406947749","https://openalex.org/W4408309981","https://openalex.org/W4410613986","https://openalex.org/W4413925031"],"related_works":[],"abstract_inverted_index":{"Tiny":[0],"palm-sized":[1,202],"aerial":[2,86,203],"robots":[3],"have":[4,77],"exceptional":[5],"agility":[6],"and":[7,12,47,50,74,125,215,223,230],"cost-effectiveness":[8],"in":[9,33,217],"navigating":[10],"confined":[11],"cluttered":[13,219],"environments.":[14],"However,":[15],"their":[16],"limited":[17,193],"payload":[18],"capacity":[19],"directly":[20],"constrains":[21],"the":[22,26,114,143,157,181,239],"sensing":[23,229],"suite":[24],"onboard":[25,228],"robot,":[27],"thereby":[28],"limiting":[29],"critical":[30],"navigational":[31],"tasks":[32],"Global":[34],"Positioning":[35],"System":[36],"(GPS)-denied":[37],"wild":[38],"scenes.":[39],"Common":[40],"methods":[41,175],"for":[42,84,163,197],"obstacle":[43],"avoidance":[44],"use":[45,156],"cameras":[46],"light":[48],"detection":[49,73],"ranging":[51,75],"(LIDAR),":[52],"which":[53],"become":[54],"ineffective":[55],"under":[56,167,207],"visually":[57,208],"degraded":[58,209],"conditions":[59,210],"such":[60,70],"as":[61,71],"low":[62,115],"visibility,":[63],"dust,":[64],"fog,":[65,213],"or":[66],"darkness.":[67],"Other":[68],"sensors,":[69],"radio":[72],"(RADAR),":[76],"high":[78,168],"power":[79],"consumption,":[80],"making":[81],"them":[82],"unsuitable":[83],"tiny":[85],"robots.":[87],"Inspired":[88],"by":[89,184],"bats,":[90],"we":[91,132],"propose":[92],"Saranga,":[93],"a":[94,103,126,134,152,186,201,218],"low-power,":[95],"ultrasound-based":[96],"perception":[97],"stack":[98],"that":[99],"localizes":[100],"obstacles":[101,225],"using":[102,185,226],"dual":[104],"sonar":[105],"array.":[106],"We":[107,178,199,232],"present":[108,133],"two":[109],"key":[110],"solutions":[111],"to":[112,137,150,155,180,205,237],"combat":[113],"peak":[116],"signal-to-noise":[117],"ratio":[118],"of":[119,160,170,211,241],"-4.9":[120],"decibels:":[121],"physical":[122],"noise":[123,141,172,195],"reduction":[124],"deep":[127],"learning-based":[128],"denoising":[129],"method.":[130],"First,":[131],"practical":[135],"way":[136],"block":[138],"propeller-induced":[139],"ultrasound":[140,161],"on":[142],"weak":[144],"echoes.":[145],"The":[146],"second":[147],"solution":[148],"is":[149],"train":[151],"neural":[153],"network":[154],"long":[158],"horizon":[159],"echoes":[162],"finding":[164],"signal":[165],"patterns":[166],"amounts":[169],"uncorrelated":[171],"where":[173],"classical":[174],"were":[176],"insufficient.":[177],"generalized":[179],"real":[182,194],"world":[183],"synthetic":[187],"data":[188,196],"generation":[189],"pipeline":[190],"augmented":[191],"with":[192,221],"training.":[198],"enabled":[200],"robot":[204],"navigate":[206],"dense":[212],"darkness,":[214],"snow":[216],"environment":[220],"thin":[222],"transparent":[224],"only":[227],"computation.":[231],"provide":[233],"extensive":[234],"real-world":[235],"results":[236],"demonstrate":[238],"efficacy":[240],"our":[242],"approach.":[243]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2026-03-26T00:00:00"}
