{"id":"https://openalex.org/W4403788102","doi":"https://doi.org/10.48550/arxiv.2409.16181","title":"SPIBOT: A Drone-Tethered Mobile Gripper for Robust Aerial Object Retrieval in Dynamic Environments","display_name":"SPIBOT: A Drone-Tethered Mobile Gripper for Robust Aerial Object Retrieval in Dynamic Environments","publication_year":2024,"publication_date":"2024-09-24","ids":{"openalex":"https://openalex.org/W4403788102","doi":"https://doi.org/10.48550/arxiv.2409.16181"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2409.16181","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.16181","pdf_url":"https://arxiv.org/pdf/2409.16181","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2409.16181","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066778279","display_name":"Gyuree Kang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kang, Gyuree","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114334216","display_name":"Ozan G\u00fcne\u015f","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"G\u00fcne\u015f, Ozan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101824074","display_name":"Seung-Wook Lee","orcid":"https://orcid.org/0000-0003-1147-1214"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Seungwook","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020327367","display_name":"Maulana Bisyir Azhari","orcid":"https://orcid.org/0000-0003-4295-6812"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Azhari, Maulana Bisyir","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5053591461","display_name":"David Hyunchul Shim","orcid":"https://orcid.org/0000-0002-1929-7022"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shim, David Hyunchul","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5066778279"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9957000017166138,"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":0.9957000017166138,"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":0.9937999844551086,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9678000211715698,"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":0.8865839242935181},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5688183903694153},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5186847448348999},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5041154623031616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49173906445503235},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.34874629974365234},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3465438783168793},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2879081964492798},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.0760689377784729}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8865839242935181},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5688183903694153},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5186847448348999},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5041154623031616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49173906445503235},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.34874629974365234},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3465438783168793},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2879081964492798},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0760689377784729},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2409.16181","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.16181","pdf_url":"https://arxiv.org/pdf/2409.16181","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2409.16181","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2409.16181","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2409.16181","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.16181","pdf_url":"https://arxiv.org/pdf/2409.16181","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403788102.pdf","grobid_xml":"https://content.openalex.org/works/W4403788102.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"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":{"In":[0],"real-world":[1],"field":[2],"operations,":[3],"aerial":[4],"grasping":[5,102],"systems":[6],"face":[7],"significant":[8],"challenges":[9],"in":[10,144,164],"dynamic":[11,167],"environments":[12],"due":[13],"to":[14,22,87,112,129,135,158,193,229],"strong":[15],"winds,":[16],"shifting":[17],"surfaces,":[18],"and":[19,70,100,110,116,126,142,197,202,220,231,241,252],"the":[20,32,36,41,49,85,93,114,140,149,165,170,187,194,239,257],"need":[21],"handle":[23],"heavy":[24,30],"loads.":[25],"Particularly":[26],"when":[27,246],"dealing":[28,247],"with":[29,107,122,248],"objects,":[31],"powerful":[33],"propellers":[34],"of":[35,169,173],"drone":[37,86,141],"can":[38],"inadvertently":[39],"blow":[40],"target":[42,73,162,240],"object":[43,163],"away":[44],"as":[45,145],"it":[46,134],"approaches,":[47],"making":[48],"task":[50],"even":[51,245],"more":[52],"difficult.":[53],"To":[54,95],"address":[55],"these":[56],"challenges,":[57],"we":[58],"introduce":[59],"SPIBOT,":[60],"a":[61,78,82,89,123,160,174,179,212,215,217],"novel":[62],"drone-tethered":[63],"mobile":[64],"gripper":[65],"system":[66,177],"designed":[67,121],"for":[68,148],"robust":[69,203],"stable":[71,98],"autonomous":[72],"retrieval.":[74],"SPIBOT":[75,104,155,235],"operates":[76],"via":[77],"tether,":[79],"much":[80],"like":[81],"spider,":[83],"allowing":[84,133],"maintain":[88],"safe":[90],"distance":[91],"from":[92],"target.":[94],"ensure":[96],"both":[97],"mobility":[99],"secure":[101],"capabilities,":[103],"is":[105,120,156],"equipped":[106],"six":[108],"legs":[109],"sensors":[111],"estimate":[113],"robot's":[115,188],"mission's":[117],"states.":[118],"It":[119],"reduced":[124],"volume":[125],"weight":[127],"compared":[128],"other":[130],"hexapod":[131],"robots,":[132],"be":[136],"easily":[137],"stowed":[138],"under":[139],"reeled":[143],"needed.":[146],"Designed":[147],"2024":[150],"MBZIRC":[151],"Maritime":[152],"Grand":[153],"Challenge,":[154],"built":[157],"retrieve":[159,233],"1kg":[161],"highly":[166],"conditions":[168],"moving":[171],"deck":[172],"ship.":[175],"This":[176],"integrates":[178],"real-time":[180],"action":[181],"selection":[182],"algorithm":[183],"that":[184],"dynamically":[185],"adjusts":[186],"actions":[189],"based":[190],"on":[191,214,223,238],"proximity":[192],"mission":[195,204],"goal":[196],"environmental":[198],"conditions,":[199],"enabling":[200],"rapid":[201],"execution.":[205],"Experimental":[206],"results":[207],"across":[208],"various":[209],"terrains,":[210],"including":[211],"pontoon":[213],"lake,":[216],"grass":[218],"field,":[219],"rubber":[221],"mats":[222],"coastal":[224],"sand,":[225],"demonstrate":[226],"SPIBOT's":[227],"ability":[228],"efficiently":[230],"reliably":[232],"targets.":[234],"swiftly":[236],"converges":[237],"completes":[242],"its":[243],"mission,":[244],"irregular":[249],"initial":[250],"states":[251],"noisy":[253],"information":[254],"introduced":[255],"by":[256],"drone.":[258]},"counts_by_year":[],"updated_date":"2026-03-11T14:59:36.786465","created_date":"2025-10-10T00:00:00"}