{"id":"https://openalex.org/W4289927749","doi":"https://doi.org/10.23919/ecc55457.2022.9838538","title":"Event-based Navigation for Autonomous Drone Racing with Sparse Gated Recurrent Network","display_name":"Event-based Navigation for Autonomous Drone Racing with Sparse Gated Recurrent Network","publication_year":2022,"publication_date":"2022-07-12","ids":{"openalex":"https://openalex.org/W4289927749","doi":"https://doi.org/10.23919/ecc55457.2022.9838538"},"language":"en","primary_location":{"id":"doi:10.23919/ecc55457.2022.9838538","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc55457.2022.9838538","pdf_url":null,"source":{"id":"https://openalex.org/S4363607908","display_name":"2022 European Control Conference (ECC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 European Control Conference (ECC)","raw_type":"proceedings-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/A5041494526","display_name":"Kristoffer Fogh Andersen","orcid":null},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":true,"raw_author_name":"Kristoffer Fogh Andersen","raw_affiliation_strings":["Aarhus University,Artificial Intelligence in Robotics Laboratory, (AiR Lab),Department of Electrical and Computer Engineering,Aarhus C,Denmark,8000"],"affiliations":[{"raw_affiliation_string":"Aarhus University,Artificial Intelligence in Robotics Laboratory, (AiR Lab),Department of Electrical and Computer Engineering,Aarhus C,Denmark,8000","institution_ids":["https://openalex.org/I204337017"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040256242","display_name":"Huy Xuan Pham","orcid":"https://orcid.org/0000-0001-8218-9326"},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Huy Xuan Pham","raw_affiliation_strings":["Aarhus University,Artificial Intelligence in Robotics Laboratory, (AiR Lab),Department of Electrical and Computer Engineering,Aarhus C,Denmark,8000"],"affiliations":[{"raw_affiliation_string":"Aarhus University,Artificial Intelligence in Robotics Laboratory, (AiR Lab),Department of Electrical and Computer Engineering,Aarhus C,Denmark,8000","institution_ids":["https://openalex.org/I204337017"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040495025","display_name":"Halil \u0130brahim U\u011furlu","orcid":"https://orcid.org/0000-0002-1609-5783"},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Halil Ibrahim Ugurlu","raw_affiliation_strings":["Aarhus University,Artificial Intelligence in Robotics Laboratory, (AiR Lab),Department of Electrical and Computer Engineering,Aarhus C,Denmark,8000"],"affiliations":[{"raw_affiliation_string":"Aarhus University,Artificial Intelligence in Robotics Laboratory, (AiR Lab),Department of Electrical and Computer Engineering,Aarhus C,Denmark,8000","institution_ids":["https://openalex.org/I204337017"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068099488","display_name":"Erdal Kayacan","orcid":"https://orcid.org/0000-0002-7143-8777"},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Erdal Kayacan","raw_affiliation_strings":["Aarhus University,Artificial Intelligence in Robotics Laboratory, (AiR Lab),Department of Electrical and Computer Engineering,Aarhus C,Denmark,8000"],"affiliations":[{"raw_affiliation_string":"Aarhus University,Artificial Intelligence in Robotics Laboratory, (AiR Lab),Department of Electrical and Computer Engineering,Aarhus C,Denmark,8000","institution_ids":["https://openalex.org/I204337017"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041494526"],"corresponding_institution_ids":["https://openalex.org/I204337017"],"apc_list":null,"apc_paid":null,"fwci":0.5988,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.76600426,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1342","last_page":"1348"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9988999962806702,"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/T12288","display_name":"Optimization and Search Problems","score":0.9954000115394592,"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/drone","display_name":"Drone","score":0.8120327591896057},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.730377733707428},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.5548985004425049},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49732235074043274},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.383454829454422},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3636764883995056},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.34848079085350037},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3310794234275818},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14562863111495972}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8120327591896057},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.730377733707428},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.5548985004425049},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49732235074043274},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.383454829454422},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3636764883995056},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.34848079085350037},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3310794234275818},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14562863111495972},{"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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc55457.2022.9838538","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc55457.2022.9838538","pdf_url":null,"source":{"id":"https://openalex.org/S4363607908","display_name":"2022 European Control Conference (ECC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/6165d13c-2651-4f2c-aa15-de3d80643bab","is_oa":false,"landing_page_url":"https://pure.au.dk/portal/en/publications/6165d13c-2651-4f2c-aa15-de3d80643bab","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Andersen, K F, Pham, H X, Ugurlu, H I & Kayacan, E 2022, Event-based Navigation for Autonomous Drone Racing with Sparse Gated Recurrent Network. in 2022 European Control Conference (ECC). IEEE, pp. 1342-1348, 2022 European Control Conference, ECC 2022, London, United Kingdom, 12/07/2022. https://doi.org/10.23919/ECC55457.2022.9838538","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309928","display_name":"Aarhus Universitet","ror":"https://ror.org/01aj84f44"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1502680304","https://openalex.org/W1522301498","https://openalex.org/W1583906511","https://openalex.org/W1686810756","https://openalex.org/W1924770834","https://openalex.org/W2064675550","https://openalex.org/W2104802233","https://openalex.org/W2109061107","https://openalex.org/W2157331557","https://openalex.org/W2469278928","https://openalex.org/W2899000831","https://openalex.org/W2962804204","https://openalex.org/W2963037989","https://openalex.org/W2963182550","https://openalex.org/W2963510238","https://openalex.org/W2971854498","https://openalex.org/W2975532148","https://openalex.org/W2998281665","https://openalex.org/W2999729662","https://openalex.org/W3010268791","https://openalex.org/W3035137671","https://openalex.org/W3089854395","https://openalex.org/W3090117981","https://openalex.org/W3090280491","https://openalex.org/W3090907972","https://openalex.org/W3097883549","https://openalex.org/W3102961690","https://openalex.org/W3110053799","https://openalex.org/W3126609383","https://openalex.org/W3127641627","https://openalex.org/W3141758171","https://openalex.org/W3155756886","https://openalex.org/W3205915463","https://openalex.org/W3207827401","https://openalex.org/W4200465206","https://openalex.org/W4211021883","https://openalex.org/W4226051885","https://openalex.org/W4287901537","https://openalex.org/W6628973269","https://openalex.org/W6631190155","https://openalex.org/W6755494875","https://openalex.org/W6768067086","https://openalex.org/W6779414662","https://openalex.org/W6792408638","https://openalex.org/W6810879400"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4379143281","https://openalex.org/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W4212885606"],"abstract_inverted_index":{"Event-based":[0],"vision":[1,51,93],"has":[2],"already":[3],"revolutionized":[4],"the":[5,53,60,65,86,91,95,109],"perception":[6,66],"task":[7],"for":[8,40,52],"robots":[9],"by":[10],"promising":[11],"faster":[12],"response,":[13],"lower":[14,18],"energy":[15],"consumption,":[16],"and":[17,62,100,127,138],"bandwidth":[19],"without":[20],"introducing":[21],"motion":[22],"blur.":[23],"In":[24],"this":[25],"work,":[26],"a":[27,44,69,77],"novel":[28],"deep":[29],"learning":[30],"method":[31],"based":[32],"on":[33,68,103],"gated":[34,97],"recurrent":[35,98],"units":[36],"utilizing":[37],"sparse":[38],"convolutions":[39],"detecting":[41],"gates":[42],"in":[43,83],"race":[45],"track":[46,82],"is":[47,142],"proposed":[48,96],"using":[49],"event-based":[50,92,115],"autonomous":[54,79],"drone":[55,80,116],"racing":[56,81,117],"problem.":[57],"We":[58],"demonstrate":[59],"efficiency":[61],"efficacy":[63],"of":[64,135],"pipeline":[67],"real":[70,139],"robot":[71],"platform":[72],"that":[73,90],"can":[74],"safely":[75],"navigate":[76],"typical":[78],"real-time.":[84],"Throughout":[85],"experiments,":[87],"we":[88],"show":[89],"with":[94],"unit":[99],"pretrained":[101],"models":[102],"simulated":[104,137],"event":[105],"data":[106,128,140],"significantly":[107],"improve":[108],"gate":[110],"detection":[111],"precision.":[112],"Furthermore,":[113],"an":[114],"dataset":[118],"<sup":[119,122],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[120,123],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[121,124],"The":[125],"code":[126],"will":[129],"be":[130],"available":[131],"at":[132],"https://github.com/open-airlab/neuromorphic_au_drone_racing.git":[133],"consisting":[134],"both":[136],"sequences":[141],"publicly":[143],"released.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}