{"id":"https://openalex.org/W2609174993","doi":"https://doi.org/10.1145/3005716","title":"A Multi-Quadcopter Cooperative Cyber-Physical System for Timely Air Pollution Localization","display_name":"A Multi-Quadcopter Cooperative Cyber-Physical System for Timely Air Pollution Localization","publication_year":2017,"publication_date":"2017-04-28","ids":{"openalex":"https://openalex.org/W2609174993","doi":"https://doi.org/10.1145/3005716","mag":"2609174993"},"language":"en","primary_location":{"id":"doi:10.1145/3005716","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3005716","pdf_url":null,"source":{"id":"https://openalex.org/S136160450","display_name":"ACM Transactions on Embedded Computing Systems","issn_l":"1539-9087","issn":["1539-9087","1558-3465"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Embedded Computing 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/A5032600760","display_name":"Zhaoyan Shen","orcid":"https://orcid.org/0000-0001-9526-6634"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhaoyan Shen","raw_affiliation_strings":["Embedded Systems and CPS Lab, Department of Computing, Hong Kong Polytechnic University, Kowloon, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-9526-6634","affiliations":[{"raw_affiliation_string":"Embedded Systems and CPS Lab, Department of Computing, Hong Kong Polytechnic University, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103075298","display_name":"Zhijian He","orcid":"https://orcid.org/0000-0002-1735-2331"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhijian He","raw_affiliation_strings":["Embedded Systems and CPS Lab, Department of Computing, Hong Kong Polytechnic University, Kowloon, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Embedded Systems and CPS Lab, Department of Computing, Hong Kong Polytechnic University, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100424064","display_name":"Shuai Li","orcid":"https://orcid.org/0000-0001-8316-5289"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shuai Li","raw_affiliation_strings":["Embedded Systems and CPS Lab, Department of Computing, Hong Kong Polytechnic University, Kowloon, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Embedded Systems and CPS Lab, Department of Computing, Hong Kong Polytechnic University, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075972332","display_name":"Qixin Wang","orcid":"https://orcid.org/0000-0002-1466-441X"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qixin Wang","raw_affiliation_strings":["Embedded Systems and CPS Lab, Department of Computing, Hong Kong Polytechnic University, Kowloon, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Embedded Systems and CPS Lab, Department of Computing, Hong Kong Polytechnic University, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101639532","display_name":"Zili Shao","orcid":"https://orcid.org/0000-0002-2173-2847"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zili Shao","raw_affiliation_strings":["Embedded Systems and CPS Lab, Department of Computing, Hong Kong Polytechnic University, Kowloon, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Embedded Systems and CPS Lab, Department of Computing, Hong Kong Polytechnic University, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":15.9491,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.98399938,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"16","issue":"3","first_page":"1","last_page":"23"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9930999875068665,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9930999875068665,"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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9894999861717224,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/quadcopter","display_name":"Quadcopter","score":0.995026707649231},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6679314374923706},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.65003502368927},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4790314733982086},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4114459156990051},{"id":"https://openalex.org/keywords/horizontal-plane","display_name":"Horizontal plane","score":0.41059839725494385},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33819878101348877},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.31702616810798645},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.21498870849609375},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1287263035774231},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10553494095802307}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.995026707649231},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6679314374923706},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.65003502368927},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4790314733982086},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4114459156990051},{"id":"https://openalex.org/C37222873","wikidata":"https://www.wikidata.org/wiki/Q17027571","display_name":"Horizontal plane","level":2,"score":0.41059839725494385},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33819878101348877},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.31702616810798645},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.21498870849609375},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1287263035774231},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10553494095802307},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3005716","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3005716","pdf_url":null,"source":{"id":"https://openalex.org/S136160450","display_name":"ACM Transactions on Embedded Computing Systems","issn_l":"1539-9087","issn":["1539-9087","1558-3465"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Embedded Computing Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3316639878","display_name":null,"funder_award_id":"Project 61272103, Project 61373049 and Project 61401385","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7131701587","display_name":null,"funder_award_id":"4-ZZD7,G-YK24, G-YM10, G-YN36, G-YN37 and A-PL82","funder_id":"https://openalex.org/F4320322598","funder_display_name":"Hong Kong Polytechnic University"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322598","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W50965381","https://openalex.org/W1519522840","https://openalex.org/W1576721254","https://openalex.org/W1577113337","https://openalex.org/W1589329080","https://openalex.org/W1674659126","https://openalex.org/W1677491108","https://openalex.org/W1698876798","https://openalex.org/W1779832310","https://openalex.org/W1816227822","https://openalex.org/W1963676558","https://openalex.org/W1976516473","https://openalex.org/W1977976974","https://openalex.org/W1979320869","https://openalex.org/W1986841165","https://openalex.org/W2003223907","https://openalex.org/W2005844032","https://openalex.org/W2010483519","https://openalex.org/W2011279373","https://openalex.org/W2011790214","https://openalex.org/W2028893450","https://openalex.org/W2042154170","https://openalex.org/W2049484010","https://openalex.org/W2052521636","https://openalex.org/W2063409030","https://openalex.org/W2067160921","https://openalex.org/W2074742728","https://openalex.org/W2075577126","https://openalex.org/W2080058646","https://openalex.org/W2084909291","https://openalex.org/W2086099980","https://openalex.org/W2088245340","https://openalex.org/W2096166399","https://openalex.org/W2099987996","https://openalex.org/W2109920799","https://openalex.org/W2111519493","https://openalex.org/W2114937518","https://openalex.org/W2116336144","https://openalex.org/W2118090736","https://openalex.org/W2118331730","https://openalex.org/W2131200679","https://openalex.org/W2137570966","https://openalex.org/W2139022569","https://openalex.org/W2141071699","https://openalex.org/W2142048243","https://openalex.org/W2143918720","https://openalex.org/W2149713648","https://openalex.org/W2152139894","https://openalex.org/W2154051289","https://openalex.org/W2158153840","https://openalex.org/W2160643434","https://openalex.org/W2161047963","https://openalex.org/W2163198877","https://openalex.org/W2164233554","https://openalex.org/W2165885229","https://openalex.org/W2169239645","https://openalex.org/W2180719975","https://openalex.org/W2182254704","https://openalex.org/W2270011886","https://openalex.org/W2336567565","https://openalex.org/W3096276665","https://openalex.org/W4252104256","https://openalex.org/W4365799935"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2966028239","https://openalex.org/W2556485970","https://openalex.org/W2526240748","https://openalex.org/W2328321249","https://openalex.org/W2264340699","https://openalex.org/W3168358416","https://openalex.org/W2312049707","https://openalex.org/W2000675896"],"abstract_inverted_index":{"We":[0,45,91,113,128],"propose":[1,68],"a":[2,14,21,25,69,99,115,163],"cyber-physical":[3],"system":[4,18],"of":[5,20],"unmanned":[6,32],"quadcopters":[7,33,157],"to":[8,102,122,133,158],"locate":[9,159],"air":[10],"pollution":[11,160],"sources":[12],"in":[13,162],"timely":[15,164],"manner.":[16],"The":[17,28,38,105],"consists":[19],"physical":[22,29],"part":[23,30,40],"and":[24,111,118],"cyber":[26,39],"part.":[27],"includes":[31],"equipped":[34],"with":[35,75,144],"multiple":[36,103],"sensors.":[37],"carries":[41],"out":[42,120,131],"control":[43,48,56,62,79,96,107,126,137,153],"laws.":[44,127,138],"simplify":[46],"the":[47,52,63,80,94,124,135,152],"laws":[49,97,108,154],"by":[50],"decoupling":[51],"quadcopters\u2019":[53],"horizontal-plane":[54,65,95,136],"motion":[55,59],"from":[57,98],"vertical":[58,82,125],"control.":[60],"To":[61,78],"quadcopter\u2019s":[64,81],"motions,":[66,83],"we":[67,84],"controller":[70],"that":[71,151],"combines":[72],"pollutant":[73],"dynamics":[74],"quadcopter":[76,101,117,140],"physics.":[77],"adopt":[85],"an":[86],"anti-windup":[87],"proportional-integral":[88],"(PI)":[89],"controller.":[90],"further":[92],"extend":[93],"single":[100],"quadcopters.":[104],"multi-quadcopter":[106],"are":[109],"distributed":[110],"convergent.":[112],"implement":[114],"prototype":[116,146],"carry":[119,130],"experiments":[121],"verify":[123],"also":[129],"simulations":[132,149],"evaluate":[134],"With":[139],"parameters":[141],"set":[142],"commensurate":[143],"our":[145,148],"implementation\u2019s,":[147],"show":[150],"can":[155],"drive":[156],"source(s)":[161],"way.":[165]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
