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Analysis of institutional authors

Bavle HCorresponding AuthorSánchez-López JAuthorRodríguez-Ramos áAuthorSampedro CAuthorCampoy PAuthor

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Proceedings Paper

A flight altitude estimator for multirotor UAVs in dynamic and unstructured indoor environments

Publicated to:2017 International Conference On Unmanned Aircraft Systems, Icuas 2017. 1044-1051 - 2017-07-25 (), DOI: 10.1109/ICUAS.2017.7991467

Authors: Bavle, Hriday; Luis Sanchez-Lopez, Jose; Rodriguez-Ramos, Alejandro; Sampedro, Carlos; Campoy, Pascual

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Abstract

© 2017 IEEE. A reliable estimation of the flight altitude in dynamic and unstructured indoor environments is an unsolved problem. Standalone available sensors, such as distance sensors, barometers and accelerometers, have multiple limitations in presence of non-flat ground surfaces, or in cluttered areas. To overcome these sensor limitations, maximizing their individual performance, this paper presents a modular EKF- based multi-sensor fusion approach for accurate vertical localization of multirotor UAVs in dynamic and unstructured indoor environments. The state estimator allows to combine the information provided by a variable number and type of sensors, including IMU, barometer and distance sensors, with the capabilities of sensor auto calibration and bias estimation, as well as a flexible configuration of the prediction and update stages. Several autonomous indoors real flights in unstructured environments have been conducted in order to validate our proposed state estimator, enabling the UAV to maintain the desired flight altitude when navigating over wide range of obstacles. Furthermore, it has been successfully used in IMAV 2016 competition. The presented work has been made publicly available to the scientific community as an open source software within the Aerostack1 framework.

Keywords

Navigation system

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

From a relative perspective, and based on the normalized impact indicator calculated from the Field Citation Ratio (FCR) of the Dimensions source, it yields a value of: 3.52, which indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: Dimensions May 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2025-05-31, the following number of citations:

  • WoS: 13
  • Scopus: 18
  • OpenCitations: 16

Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-05-31:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 31 (PlumX).

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.

Leadership analysis of institutional authors

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (BAVLE, HRIDAY) and Last Author (CAMPOY CERVERA, PASCUAL).

the author responsible for correspondence tasks has been BAVLE, HRIDAY.