{"id":"https://openalex.org/W4366777698","doi":"https://doi.org/10.1142/s230138502450033x","title":"FLAGDroneRacing: An Autonomous Drone Racing System","display_name":"FLAGDroneRacing: An Autonomous Drone Racing System","publication_year":2023,"publication_date":"2023-04-23","ids":{"openalex":"https://openalex.org/W4366777698","doi":"https://doi.org/10.1142/s230138502450033x"},"language":"en","primary_location":{"id":"doi:10.1142/s230138502450033x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s230138502450033x","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014861529","display_name":"Ruocheng Li","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruocheng Li","raw_affiliation_strings":["National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing 100081, P.\u00a0R.\u00a0China","School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0000-0002-2960-3628","affiliations":[{"raw_affiliation_string":"National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":[]},{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007548009","display_name":"Jingshuo Lyu","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingshuo Lyu","raw_affiliation_strings":["National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing 100081, P.\u00a0R.\u00a0China","School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":[]},{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012285321","display_name":"Aobo Wang","orcid":"https://orcid.org/0000-0002-0747-1855"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aobo Wang","raw_affiliation_strings":["National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing 100081, P.\u00a0R.\u00a0China","School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":[]},{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102945833","display_name":"Rui Yu","orcid":"https://orcid.org/0000-0002-8510-4268"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Yu","raw_affiliation_strings":["National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing 100081, P.\u00a0R.\u00a0China","School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":[]},{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100983958","display_name":"Delong Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Delong Wu","raw_affiliation_strings":["National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing 100081, P.\u00a0R.\u00a0China","School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":[]},{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020307082","display_name":"Bin Xin","orcid":"https://orcid.org/0000-0001-9989-0418"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bin Xin","raw_affiliation_strings":["National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing 100081, P.\u00a0R.\u00a0China","School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China"],"raw_orcid":"https://orcid.org/0000-0001-9989-0418","affiliations":[{"raw_affiliation_string":"National Key Lab of Autonomous Intelligent Unmanned Systems, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":[]},{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, P.\u00a0R.\u00a0China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5020307082"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":2.9128,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.92064229,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"12","issue":"06","first_page":"985","last_page":"1000"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9940000176429749,"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/drone","display_name":"Drone","score":0.7174140214920044},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7014603018760681},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6839804649353027},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6706091165542603},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.654962420463562},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6317678093910217},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5899777412414551},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5348716378211975},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4682553708553314},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.44507962465286255},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4325752556324005},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4143407940864563},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22539985179901123},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06590616703033447}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7174140214920044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7014603018760681},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6839804649353027},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6706091165542603},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.654962420463562},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6317678093910217},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5899777412414551},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5348716378211975},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4682553708553314},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.44507962465286255},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4325752556324005},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4143407940864563},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22539985179901123},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06590616703033447},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s230138502450033x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s230138502450033x","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2021503353","https://openalex.org/W2099893201","https://openalex.org/W2118223742","https://openalex.org/W2150066425","https://openalex.org/W2162991084","https://openalex.org/W2274553213","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2482392012","https://openalex.org/W2535547924","https://openalex.org/W2587415290","https://openalex.org/W2604579016","https://openalex.org/W2745859992","https://openalex.org/W2785582094","https://openalex.org/W2798000375","https://openalex.org/W2908528560","https://openalex.org/W2911956173","https://openalex.org/W2962787639","https://openalex.org/W2968243907","https://openalex.org/W3003747652","https://openalex.org/W3029808435","https://openalex.org/W3043971245","https://openalex.org/W3106851932","https://openalex.org/W3114626444","https://openalex.org/W3125164440","https://openalex.org/W3134703279","https://openalex.org/W3135067689","https://openalex.org/W3135798748","https://openalex.org/W3152378581","https://openalex.org/W3159537771","https://openalex.org/W3197895977","https://openalex.org/W3199091020","https://openalex.org/W3199345891","https://openalex.org/W3199831286","https://openalex.org/W3200530746","https://openalex.org/W3205915463","https://openalex.org/W3207644545","https://openalex.org/W3208560853","https://openalex.org/W3209083247","https://openalex.org/W3211061545"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2951795132","https://openalex.org/W4312092966","https://openalex.org/W2755286209","https://openalex.org/W3153542184","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,71],"complete":[4],"system":[5,24,43],"for":[6],"autonomous":[7,62],"drone":[8],"racing":[9],"combining":[10],"image":[11],"recognition,":[12],"depth":[13],"mapping,":[14],"visual-inertial":[15,41],"odometry":[16],"(VIO),":[17],"and":[18,29,49,64,73,80,94,104],"collision-free":[19,81],"trajectory":[20,75],"planning.":[21],"The":[22,85],"proposed":[23,86,108],"focuses":[25],"on":[26],"simple,":[27],"robust,":[28],"computationally":[30],"efficient":[31,74],"techniques":[32],"to":[33,46,77],"enable":[34],"onboard":[35],"hardware":[36],"applications.":[37],"A":[38,52],"loosely":[39],"coupled":[40],"localization":[42],"is":[44,57],"devised,":[45],"ensure":[47],"real-time":[48],"robust":[50,72],"localization.":[51],"lightweight":[53],"CPU-based":[54],"detection":[55,66],"module":[56],"designed,":[58],"which":[59],"consists":[60],"of":[61,106],"mapping":[63],"gate":[65],"components.":[67],"We":[68,110],"also":[69],"introduce":[70],"planner":[76],"generate":[78],"smooth":[79],"trajectories":[82],"in":[83],"real-time.":[84],"methods":[87],"are":[88],"tested":[89],"extensively":[90],"through":[91],"benchmark":[92],"comparisons":[93],"challenging":[95],"indoor":[96],"flights,":[97],"while":[98],"simulation":[99],"results":[100],"show":[101],"the":[102],"validness":[103],"effectiveness":[105],"our":[107,112],"system.":[109],"release":[111],"implementation":[113],"as":[114],"an":[115],"open-source":[116],"ROS-package.":[117]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}