{"id":"https://openalex.org/W3100674763","doi":"https://doi.org/10.1109/toh.2019.2927338","title":"SwarmTouch: Guiding a Swarm of Micro-Quadrotors With Impedance Control Using a Wearable Tactile Interface","display_name":"SwarmTouch: Guiding a Swarm of Micro-Quadrotors With Impedance Control Using a Wearable Tactile Interface","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W3100674763","doi":"https://doi.org/10.1109/toh.2019.2927338","mag":"3100674763","pmid":"https://pubmed.ncbi.nlm.nih.gov/31295120"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2019.2927338","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-article","indexed_in":["arxiv","crossref","datacite","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://arxiv.org/pdf/1909.02298","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013328553","display_name":"Evgeny Tsykunov","orcid":"https://orcid.org/0000-0003-1123-2774"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Evgeny Tsykunov","raw_affiliation_strings":["Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059263758","display_name":"Ruslan Agishev","orcid":"https://orcid.org/0000-0002-9169-2684"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Ruslan Agishev","raw_affiliation_strings":["Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056162346","display_name":"Roman Ibrahimov","orcid":"https://orcid.org/0000-0002-9680-7137"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Roman Ibrahimov","raw_affiliation_strings":["Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007310602","display_name":"Luiza Labazanova","orcid":"https://orcid.org/0000-0002-4387-3253"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Luiza Labazanova","raw_affiliation_strings":["Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053248805","display_name":"Akerke Tleugazy","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Akerke Tleugazy","raw_affiliation_strings":["Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056458774","display_name":"Dzmitry Tsetserukou","orcid":"https://orcid.org/0000-0001-8055-5345"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dzmitry Tsetserukou","raw_affiliation_strings":["Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.746,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":18,"citation_normalized_percentile":{"value":0.999936,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":91},"biblio":{"volume":"12","issue":"3","first_page":"363","last_page":"374"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9992,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9992,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.998,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9979,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance Control","score":0.49618158},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.47314394},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.41228843}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.83363736},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.7802043},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5738904},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.5629704},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.49618158},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.47314394},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43285525},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.41228843},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37038684},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33672202},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32564282},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3240593},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31272534},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07933891},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.06898776},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":"","qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"","qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D014110","descriptor_name":"Touch","qualifier_ui":"","qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D055698","descriptor_name":"Touch Perception","qualifier_ui":"","qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000076251","descriptor_name":"Wearable Electronic Devices","qualifier_ui":"","qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000293","descriptor_name":"Adolescent","qualifier_ui":"","qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000328","descriptor_name":"Adult","qualifier_ui":"","qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017097","descriptor_name":"Electric Impedance","qualifier_ui":"","qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":"","qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":"","qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":"","qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":"","qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010812","descriptor_name":"Physical Stimulation","qualifier_ui":"","qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014584","descriptor_name":"User-Computer Interface","qualifier_ui":"","qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014732","descriptor_name":"Vibration","qualifier_ui":"","qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D059015","descriptor_name":"Wireless Technology","qualifier_ui":"","qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055815","descriptor_name":"Young Adult","qualifier_ui":"","qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2019.2927338","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.02298","pdf_url":"http://arxiv.org/pdf/1909.02298","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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/1909.02298","pdf_url":"https://arxiv.org/pdf/1909.02298","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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31295120","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":["National Institutes of Health"],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":false,"landing_page_url":"https://api.datacite.org/dois/10.48550/arxiv.1909.02298","pdf_url":null,"source":{"id":"https://openalex.org/S4393179698","display_name":"DataCite API","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210145204","host_organization_name":"DataCite","host_organization_lineage":["https://openalex.org/I4210145204"],"host_organization_lineage_names":["DataCite"],"type":"metadata"},"license":null,"license_id":null,"version":null}],"best_oa_location":{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.02298","pdf_url":"http://arxiv.org/pdf/1909.02298","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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":["https://openalex.org/W2971898048","https://openalex.org/W3100674763"],"referenced_works_count":22,"referenced_works":["https://openalex.org/W1512648776","https://openalex.org/W1603091613","https://openalex.org/W1978023077","https://openalex.org/W1996819900","https://openalex.org/W2040465572","https://openalex.org/W2072869429","https://openalex.org/W2103120971","https://openalex.org/W2106250937","https://openalex.org/W2115966148","https://openalex.org/W2131065965","https://openalex.org/W2156765112","https://openalex.org/W2219495836","https://openalex.org/W2247992479","https://openalex.org/W2267863633","https://openalex.org/W2295977886","https://openalex.org/W2545805744","https://openalex.org/W2562187295","https://openalex.org/W2728204631","https://openalex.org/W2750735917","https://openalex.org/W2788901249","https://openalex.org/W2790894820","https://openalex.org/W3104641821"],"related_works":["https://openalex.org/W4239246781","https://openalex.org/W4205698120","https://openalex.org/W3201620972","https://openalex.org/W2561315646","https://openalex.org/W2542825942","https://openalex.org/W2332386680","https://openalex.org/W2248621902","https://openalex.org/W2164760767","https://openalex.org/W2036697162","https://openalex.org/W2003779889"],"abstract_inverted_index":{"To":[0],"achieve":[1,59],"a":[2,8,12,17,22,60,122,154,162],"smooth":[3],"and":[4,29,42,47,69,88,141],"safe":[5],"guiding":[6,135],"of":[7,72,82,96,165],"drone":[9,137],"formation":[10,45,120,138],"by":[11],"human":[13,39],"operator,":[14],"we":[15],"propose":[16],"novel":[18],"interaction":[19],"strategy":[20],"for":[21],"human-swarm":[23,144,159],"communication,":[24],"which":[25,56],"combines":[26],"impedance":[27,51],"control":[28],"vibrotactile":[30],"feedback.":[31,128],"The":[32,77,148],"presented":[33],"approach":[34],"takes":[35],"into":[36],"account":[37],"the":[38,44,73,80,83,86,94,97,104,114,119,136,143,158,168],"hand":[40],"velocity":[41],"changes":[43],"shape":[46],"dynamics":[48],"accordingly":[49],"using":[50,125],"interlinks":[52],"simulated":[53],"between":[54],"quadrotors,":[55],"helps":[57],"to":[58,92,116],"natural":[61],"swarm":[62,74,84,169],"behavior.":[63],"Several":[64],"tactile":[65,127,132],"patterns":[66,105],"representing":[67],"static":[68],"dynamic":[70],"parameters":[71],"are":[75],"proposed.":[76],"user":[78,101],"feels":[79],"state":[81],"at":[85],"fingertips":[87],"receives":[89],"valuable":[90],"information":[91],"improve":[93],"controllability":[95],"complex":[98],"formation.":[99],"A":[100,110],"study":[102],"revealed":[103],"with":[106],"high":[107],"recognition":[108],"rates.":[109],"flight":[111],"experiment":[112],"demonstrated":[113],"possibility":[115],"accurately":[117],"navigate":[118],"in":[121],"cluttered":[123],"environment":[124],"only":[126],"Subjects":[129],"stated":[130],"that":[131],"sensation":[133],"allows":[134],"through":[139],"obstacles":[140],"makes":[142],"communication":[145],"more":[146],"interactive.":[147],"proposed":[149],"technology":[150],"can":[151],"potentially":[152],"have":[153],"strong":[155],"impact":[156],"on":[157],"interaction,":[160],"providing":[161],"higher":[163],"level":[164],"awareness":[166],"during":[167],"navigation.":[170]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3100674763","counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3}],"updated_date":"2025-01-08T08:14:53.331961","created_date":"2020-11-23"}