{"id":"https://openalex.org/W4388872768","doi":"https://doi.org/10.1145/3623263.3629155","title":"Voxelcopter: Modular Autonomous Aerial Systems","display_name":"Voxelcopter: Modular Autonomous Aerial Systems","publication_year":2023,"publication_date":"2023-10-08","ids":{"openalex":"https://openalex.org/W4388872768","doi":"https://doi.org/10.1145/3623263.3629155"},"language":"en","primary_location":{"id":"doi:10.1145/3623263.3629155","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3623263.3629155","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3623263.3629155","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 8th ACM Symposium on Computational Fabrication","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3623263.3629155","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071339119","display_name":"Sophia Wang","orcid":"https://orcid.org/0009-0006-2201-0199"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sophia Wang","raw_affiliation_strings":["Aeronautics and Astronautics, Massachusetts Institute of Technology, USA"],"raw_orcid":"https://orcid.org/0009-0006-2201-0199","affiliations":[{"raw_affiliation_string":"Aeronautics and Astronautics, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014395215","display_name":"Miana Smith","orcid":"https://orcid.org/0000-0003-2963-8086"},"institutions":[{"id":"https://openalex.org/I4210159271","display_name":"MIT-Harvard Center for Ultracold Atoms","ror":"https://ror.org/053tmcn30","country_code":"US","type":"facility","lineage":["https://openalex.org/I136199984","https://openalex.org/I4210159271","https://openalex.org/I63966007"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Miana Smith","raw_affiliation_strings":["Center for Bits and Atoms, Massachusetts Institute of Technology, USA"],"raw_orcid":"https://orcid.org/0000-0003-2963-8086","affiliations":[{"raw_affiliation_string":"Center for Bits and Atoms, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I4210159271","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072643029","display_name":"Neil Gershenfeld","orcid":"https://orcid.org/0000-0001-8470-5777"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Neil Gershenfeld","raw_affiliation_strings":["Massachusetts Institute of Technology, USA"],"raw_orcid":"https://orcid.org/0000-0001-8470-5777","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1545265,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"2"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9987000226974487,"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":0.9939000010490417,"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/reconfigurability","display_name":"Reconfigurability","score":0.7891368865966797},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7756545543670654},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.7650240063667297},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6693869829177856},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.6464026570320129},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6300998330116272},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.5992709994316101},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.47462499141693115},{"id":"https://openalex.org/keywords/emulation","display_name":"Emulation","score":0.4695984125137329},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.4495587646961212},{"id":"https://openalex.org/keywords/backup","display_name":"Backup","score":0.4428692162036896},{"id":"https://openalex.org/keywords/modular-programming","display_name":"Modular programming","score":0.43451520800590515},{"id":"https://openalex.org/keywords/reuse","display_name":"Reuse","score":0.4343031346797943},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.41250497102737427},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.38616782426834106},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26203811168670654},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.16267389059066772},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.1609102189540863},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.14113140106201172}],"concepts":[{"id":"https://openalex.org/C2780149590","wikidata":"https://www.wikidata.org/wiki/Q7302742","display_name":"Reconfigurability","level":2,"score":0.7891368865966797},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7756545543670654},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.7650240063667297},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6693869829177856},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.6464026570320129},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6300998330116272},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.5992709994316101},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.47462499141693115},{"id":"https://openalex.org/C149810388","wikidata":"https://www.wikidata.org/wiki/Q5374873","display_name":"Emulation","level":2,"score":0.4695984125137329},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.4495587646961212},{"id":"https://openalex.org/C2780945871","wikidata":"https://www.wikidata.org/wiki/Q194274","display_name":"Backup","level":2,"score":0.4428692162036896},{"id":"https://openalex.org/C88482812","wikidata":"https://www.wikidata.org/wiki/Q6453666","display_name":"Modular programming","level":2,"score":0.43451520800590515},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.4343031346797943},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.41250497102737427},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.38616782426834106},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26203811168670654},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.16267389059066772},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.1609102189540863},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.14113140106201172},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3623263.3629155","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3623263.3629155","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3623263.3629155","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 8th ACM Symposium on Computational Fabrication","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/153155","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/153155","pdf_url":"https://dspace.mit.edu/bitstream/1721.1/153155/1/3623263.3629155.pdf","source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Association for Computing Machinery","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"doi:10.1145/3623263.3629155","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3623263.3629155","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3623263.3629155","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 8th ACM Symposium on Computational Fabrication","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4388872768.pdf","grobid_xml":"https://content.openalex.org/works/W4388872768.grobid-xml"},"referenced_works_count":7,"referenced_works":["https://openalex.org/W2062010943","https://openalex.org/W2290804261","https://openalex.org/W2963522883","https://openalex.org/W2992060177","https://openalex.org/W3105630405","https://openalex.org/W4288047841","https://openalex.org/W4309556370"],"related_works":["https://openalex.org/W1544665014","https://openalex.org/W2748364266","https://openalex.org/W4243861219","https://openalex.org/W2556374054","https://openalex.org/W2069545207","https://openalex.org/W2092579166","https://openalex.org/W2969723039","https://openalex.org/W4293056360","https://openalex.org/W2133965417","https://openalex.org/W4385198087"],"abstract_inverted_index":{"Different":[0],"unmanned":[1],"aerial":[2],"system":[3],"(UAS)":[4],"applications,":[5],"such":[6,18],"as":[7,19],"military":[8],"reconnaissance,":[9],"environmental":[10],"monitoring,":[11],"or":[12],"commercial":[13],"delivery,":[14],"require":[15,27],"different":[16,29],"specifications":[17],"payload":[20],"weight":[21],"and":[22,53,74,103,112,122],"travel":[23],"range,":[24],"which":[25],"typically":[26],"completely":[28],"designs.":[30],"This":[31],"means":[32],"that":[33,94],"it":[34,131],"is":[35,120],"difficult,":[36],"if":[37],"not":[38],"impossible,":[39],"to":[40],"easily":[41],"reconfigure":[42],"an":[43],"existing":[44],"UAS":[45],"for":[46,71,85,135],"a":[47,67,105,118],"new":[48],"application":[49],"without":[50],"the":[51,56,72,126,138,142],"redesign":[52],"reconstruction":[54],"of":[55,62,77,141],"system.":[57,143],"To":[58],"facilitate":[59],"easy":[60,139],"reconfiguration":[61],"UAS,":[63],"we":[64,123],"present":[65],"Voxelcopter,":[66],"modular":[68],"construction":[69],"kit":[70],"rapid-prototyping":[73],"rapid":[75],"assembly":[76],"multicopter":[78],"UAS.":[79],"We":[80],"develop":[81],"basic":[82],"viable":[83],"components":[84,133],"flight,":[86],"including":[87],"reconfigurable":[88],"building":[89],"blocks,":[90],"termed":[91],"functional":[92],"voxels,":[93],"assemble":[95],"into":[96,132],"high-stiffness,":[97],"lightweight":[98],"structures":[99],"with":[100],"integrated":[101],"power":[102,113],"data,":[104],"custom":[106],"flight":[107,124],"controller":[108],"software":[109],"library,":[110],"propellers,":[111],"storage.":[114],"In":[115],"this":[116],"demo,":[117],"quadcopter":[119],"assembled,":[121],"test":[125],"resulting":[127],"vehicle,":[128],"then":[129],"disassemble":[130],"ready":[134],"reuse,":[136],"demonstrating":[137],"reconfigurability":[140]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
