{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T05:42:03Z","timestamp":1761975723380,"version":"3.40.3"},"publisher-location":"Cham","reference-count":51,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783030053208"},{"type":"electronic","value":"9783030053215"}],"license":[{"start":{"date-parts":[[2019,1,1]],"date-time":"2019-01-01T00:00:00Z","timestamp":1546300800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2019]]},"DOI":"10.1007\/978-3-030-05321-5_3","type":"book-chapter","created":{"date-parts":[[2019,1,20]],"date-time":"2019-01-20T02:37:26Z","timestamp":1547951846000},"page":"77-142","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["Recent R&amp;D Technologies and Future Prospective of Flying Robot in Tough Robotics Challenge"],"prefix":"10.1007","author":[{"given":"Kenzo","family":"Nonami","sequence":"first","affiliation":[]},{"given":"Kotaro","family":"Hoshiba","sequence":"additional","affiliation":[]},{"given":"Kazuhiro","family":"Nakadai","sequence":"additional","affiliation":[]},{"given":"Makoto","family":"Kumon","sequence":"additional","affiliation":[]},{"given":"Hiroshi G.","family":"Okuno","sequence":"additional","affiliation":[]},{"given":"Yasutada","family":"Tanabe","sequence":"additional","affiliation":[]},{"given":"Koichi","family":"Yonezawa","sequence":"additional","affiliation":[]},{"given":"Hiroshi","family":"Tokutake","sequence":"additional","affiliation":[]},{"given":"Satoshi","family":"Suzuki","sequence":"additional","affiliation":[]},{"given":"Kohei","family":"Yamaguchi","sequence":"additional","affiliation":[]},{"given":"Shigeru","family":"Sunada","sequence":"additional","affiliation":[]},{"given":"Takeshi","family":"Takaki","sequence":"additional","affiliation":[]},{"given":"Toshiyuki","family":"Nakata","sequence":"additional","affiliation":[]},{"given":"Ryusuke","family":"Noda","sequence":"additional","affiliation":[]},{"given":"Hao","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Satoshi","family":"Tadokoro","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2019,1,21]]},"reference":[{"key":"3_CR1","unstructured":"https:\/\/www.statista.com\/statistics\/510894\/natural-disasters-globally-and-economic-losses\/"},{"key":"3_CR2","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/9407.001.0001","volume-title":"Disaster Robotics","author":"RR Murphy","year":"2014","unstructured":"Murphy, R.R.: Disaster Robotics. MIT Press, Cambridge (2014)"},{"key":"3_CR3","doi-asserted-by":"crossref","unstructured":"Valavanis, K.P., Vachtsevanos, G.J. (eds.): Handbook of Unmanned Aerial Vehicles, pp. 529\u2013710, 2997\u20133000. Springer, Berlin (2015)","DOI":"10.1007\/978-90-481-9707-1"},{"key":"3_CR4","unstructured":"Office of the Secretary of Defense, Unmanned Aircraft Systems Roadmap, 2005\u20132030"},{"key":"3_CR5","first-page":"55","volume-title":"Autonomous Control Systems and Vehicles: Intelligent Unmanned Systems","year":"2013","unstructured":"Nonami, K., Kartidjo, M., Yoon, K.J., Budiyono, A. (eds.): Autonomous Control Systems and Vehicles: Intelligent Unmanned Systems, pp. 55\u201371. Springer, Berlin (2013)"},{"key":"3_CR6","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-10-3382-7","volume-title":"Introduction to Multicopter Design and Control","author":"Q Quan","year":"2017","unstructured":"Quan, Q.: Introduction to Multicopter Design and Control. Springer, Berlin (2017)"},{"key":"3_CR7","unstructured":"Nonami, K.: All of the Drone Industry Application, pp. 179\u2013183. Ohmsha (2018)"},{"key":"3_CR8","unstructured":"http:\/\/www.kantei.go.jp\/jp\/singi\/kogatamujinki\/pdf\/shiryou6.pdf"},{"key":"3_CR9","doi-asserted-by":"publisher","DOI":"10.1007\/978-4-431-53856-1","volume-title":"Autonomous Flying Robots","author":"K Nonami","year":"2010","unstructured":"Nonami, K., Kendoul, F., Wan, W., Suzuki, S., Nakazawa, D.: Autonomous Flying Robots. Springer, Berlin (2010)"},{"issue":"10","key":"3_CR10","doi-asserted-by":"publisher","first-page":"700","DOI":"10.7210\/jrsj.35.700","volume":"35","author":"K Nonami","year":"2017","unstructured":"Nonami, K., Inoue, S.: Research on sub-committee of aerial robot of ImPACT\/TRC. J. Robot. Soc. Jpn. 35(10), 700\u2013706 (2017)","journal-title":"J. Robot. Soc. Jpn."},{"key":"3_CR11","doi-asserted-by":"publisher","unstructured":"de Bree, H.-E.: Acoustic vector sensors increasing UAV\u2019s situational awareness, SAE Technical Paper, pp. 2009\u201301\u20133249 (2009). https:\/\/doi.org\/10.4271\/2009-01-3249","DOI":"10.4271\/2009-01-3249"},{"key":"3_CR12","doi-asserted-by":"crossref","unstructured":"Kaushik, B., Nance, D., Ahuj, K.K.: A review of the role of acoustic sensors in the modern battlefield. In: Proceedings of 11th AIAA\/CEAS Aeroacoustics Conference (26th AIAA Aeroacoustics Conference), pp. 1\u201313 (2005)","DOI":"10.2514\/6.2005-2997"},{"key":"3_CR13","doi-asserted-by":"crossref","unstructured":"Basiri, M., Schill, F., Lima, P.U., Floreano, D.: Robust acoustic source localization of emergency signals from micro air vehicles. In: Proceedings of the IEEE\/RSJ International Conference on Robots and Intelligent Systems (IROS), pp. 4737\u20134742 (2012)","DOI":"10.1109\/IROS.2012.6385608"},{"key":"3_CR14","doi-asserted-by":"crossref","unstructured":"Okutani, K., Yoshida, T., Nakamura, K., Nakadai, K.: Outdoor auditory scene analysis using a moving microphone array embedded in a quadrocopter. In: Proceedings of the IEEE\/RSJ International Conference on Robots and Intelligent Systems (IROS), pp. 3288\u20133293 (2012)","DOI":"10.1109\/IROS.2012.6385994"},{"issue":"3","key":"3_CR15","doi-asserted-by":"publisher","first-page":"276","DOI":"10.1109\/TAP.1986.1143830","volume":"34","author":"RO Schmidt","year":"1986","unstructured":"Schmidt, R.O.: Multiple emitter location and signal parameter estimation. IEEE Trans. Antennas Propag. 34(3), 276\u2013280 (1986). https:\/\/doi.org\/10.1109\/TAP.1986.1143830","journal-title":"IEEE Trans. Antennas Propag."},{"key":"3_CR16","doi-asserted-by":"crossref","unstructured":"Ohata, T., Nakamura, K., Mizumoto, T., Tezuka, T., Nakadai, K.: Improvement in outdoor sound source detection using a quadrotor-embedded microphone array. In: Proceedings of the IEEE\/RSJ International Conference on Robots and Intelligent Systems (IROS), pp. 1902\u20131907 (2014)","DOI":"10.1109\/IROS.2014.6942813"},{"key":"3_CR17","doi-asserted-by":"crossref","unstructured":"Furukawa, K., Okutani, K., Nagira, K., Otsuka, T., Itoyama, K., Nakadai, K., Okuno, H.G.: Noise correlation matrix estimation for improving sound source localization by multirotor UAV. In: Proceedings of the IEEE\/RSJ International Conference on Robots and Intelligent Systems (IROS), pp. 3943\u20133948 (2013)","DOI":"10.1109\/IROS.2013.6696920"},{"issue":"11","key":"3_CR18","doi-asserted-by":"publisher","first-page":"1","DOI":"10.3390\/s17112535","volume":"17","author":"K Hoshiba","year":"2017","unstructured":"Hoshiba, K., Washizaki, K., Wakabayashi, M., Ishiki, T., Kumon, M., Bando, Y., Gabriel, D., Nakadai, K., Okuno, H.G.: Design of UAV-embedded microphone array system for sound source localization in outdoor environments. Sensors 17(11), 1\u201316 (2017). https:\/\/doi.org\/10.3390\/s17112535","journal-title":"Sensors"},{"issue":"5\u20136","key":"3_CR19","doi-asserted-by":"publisher","first-page":"739","DOI":"10.1163\/016918610X493561","volume":"24","author":"K Nakadai","year":"2010","unstructured":"Nakadai, K., Takahashi, T., Okuno, H.G., Nakajima, H., Hasegawa, Y., Tsujino, H.: Design and Implementation of robot audition system \u2018HARK\u2019\u2013open source software for listening to three simultaneous speakers. Adv. Robot. 24(5\u20136), 739\u2013761 (2010). https:\/\/doi.org\/10.1163\/016918610X493561","journal-title":"Adv. Robot."},{"key":"3_CR20","unstructured":"Wakabayashi, M., Kumon, M.: Position estimation of multiple sound sources on the ground by multirotor helicopter with microphone array. JSAI Technical report SIG-Challenge-049-3, pp. 15\u201322 (2017). (in Japanese)"},{"key":"3_CR21","doi-asserted-by":"crossref","unstructured":"Konstantinova, P., Udvarev, A., Semerdjiev, T.: A study of a target tracking algorithm using global nearest neighbor approach. In: Proceedings of International Conference on Computer Systems and Technologies (CompSysTech), pp. 290\u2013295 (2003)","DOI":"10.1145\/973620.973668"},{"key":"3_CR22","doi-asserted-by":"crossref","unstructured":"Washizaki, K., Wakabayashi, M., Kumon, M.: Position estimation of sound source on ground by multirotor helicopter with microphone array. In: Proceedings of the IEEE\/RSJ International Conference on Robots and Intelligent Systems (IROS), pp. 1980\u20131985 (2016)","DOI":"10.1109\/IROS.2016.7759312"},{"issue":"1","key":"3_CR23","doi-asserted-by":"publisher","first-page":"154","DOI":"10.20965\/jrm.2017.p0154","volume":"29","author":"K Hoshiba","year":"2017","unstructured":"Hoshiba, K., Sugiyama, O., Nagamine, A., Kojima, R., Kumon, M., Nakadai, K.: Design and assessment of sound source localization system with a UAV-embedded microphone array. J. Robot. Mechatron. 29(1), 154\u2013167 (2017). https:\/\/doi.org\/10.20965\/jrm.2017.p0154","journal-title":"J. Robot. Mechatron."},{"key":"3_CR24","doi-asserted-by":"crossref","unstructured":"Morito, T., Sugiyama, O., Kojima, R., Nakadai, K.: Partially shared deep neural network in sound source separation and identification using a UAV-embedded microphone array. In: Proceedings of the IEEE\/RSJ International Conference on Robots and Intelligent Systems (IROS), pp. 1299\u20131304 (2016)","DOI":"10.1109\/IROS.2016.7759215"},{"key":"3_CR25","doi-asserted-by":"crossref","first-page":"562","DOI":"10.1007\/978-3-319-42007-3_49","volume-title":"Trends in Applied Knowledge-Based Systems and Data Science","author":"Takayuki Morito","year":"2016","unstructured":"Morito, T., Sugiyama, O., Kojima, R., Nakadai, K.: Reduction of computational cost using two-stage deep neural network for training for denoising and sound source identification. In: Proceedings of the IEA\/AIE 2016 Trends in Applied Knowledge-Based Systems and Data Science. Series Lecture Notes in Computer Science, vol. 9799, pp. 562\u2013573 (2016)"},{"issue":"1","key":"3_CR26","doi-asserted-by":"publisher","first-page":"188","DOI":"10.20965\/jrm.2017.p0188","volume":"29","author":"O Sugiyama","year":"2017","unstructured":"Sugiyama, O., Uemura, S., Nagamine, A., Kojima, R., Nakamura, K., Nakadai, K.: Outdoor acoustic event identification with DNN using a quadrotor-embedded microphone array. J. Robot. Mechatron. 29(1), 188\u2013197 (2017). https:\/\/doi.org\/10.20965\/jrm.2017.p0188","journal-title":"J. Robot. Mechatron."},{"key":"3_CR27","unstructured":"Sunada, S., Tanabe, Y., Yonezawa, K., Tokutake, H.: Improvement of flight performance of minisurveyor by using pitch control and decreasing the number of rotors. In: 2016 Asia-Pacific International Symposium on Aerospace Technology, Toyama, Japan (2017)"},{"key":"3_CR28","unstructured":"Yonezawa, K., Yoshida, N., Sugiyama, K., Tokutake, H., Tanabe, Y., Sunada, S.: Development of a multicopter with ducted and variable pitch rotors. In: Proceedings of the 5th Asian\/Australian Rotorcraft Forum, American Helicopter Society International, Fairfax, Virginia. U.S. (2016)"},{"key":"3_CR29","unstructured":"Yonezawa, K., Matsumoto, H., Sugiyama, K., Tokutake, H., Tanabe, Y., Sunada, S.: Development of a ducted rotor for multicopters. In: 6th Asian\/Australian Rotorcraft Forum(ARF) and Heli Japan 2017, Kanazawa, Japan (2017)"},{"key":"3_CR30","first-page":"012008-1","volume":"56","author":"V Hrishikeshavan","year":"2011","unstructured":"Hrishikeshavan, V., Sirohi, J., Tishchenko, M., Chopra, I.: Design, development, and testing of a shrouded single-rotor micro air vehicle with antitorque vanes. J. Am. Helicopter Soc. 56, 012008-1\u2013012008-11 (2011)","journal-title":"J. Am. Helicopter Soc."},{"key":"3_CR31","doi-asserted-by":"publisher","first-page":"779","DOI":"10.2514\/1.C032463","volume":"51","author":"V Hrishikeshavan","year":"2014","unstructured":"Hrishikeshavan, V., Black, J., Chopra, I.: Design and performance of a quad-shrouded rotor micro air vehicle. J. Aircr. 51, 779\u2013791 (2014)","journal-title":"J. Aircr."},{"key":"3_CR32","unstructured":"Tanabe, Y., Saito, S., Sugawara, H.: Construction and validation of an analysis tool chain for rotorcraft active noise reduction, In: Proceedings of 38th European Rotorcraft Forlum (ERF), Netherlands Association of Aeronautical Engineers, Amsterdam, NL (2012)"},{"key":"3_CR33","doi-asserted-by":"publisher","first-page":"344","DOI":"10.20965\/jrm.2018.p0344","volume":"30","author":"Y Tanabe","year":"2018","unstructured":"Tanabe, Y., Sugiura, M., Aoyama, T., Sugawara, H., Sunada, S., Yonezawa, K., Tokutake, H.: Multiple rotors hovering near an upper or a side wall. J. Robot. Mechatron. 30, 344\u2013353 (2018)","journal-title":"J. Robot. Mechatron."},{"issue":"0","key":"3_CR34","doi-asserted-by":"publisher","first-page":"1P1","DOI":"10.1299\/jsmermd.2017.1P1-R04","volume":"2017","author":"Raijo TORITA","year":"2017","unstructured":"Torita, R., Kishi, T., Tokutake, H., Sunada, S., Tanabe, Y., Yonezawa, K.: Modeling of aerodynamic characteristics of drone and improvement of gust response. In: 6th Asian\/Australian Rotorcraft Forum(ARF) and Heli Japan 2017, Kanazawa, Japan (2017)","journal-title":"The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)"},{"key":"3_CR35","unstructured":"Kim, S., Choi, S., Kim, H.J.: Aerial manipulation using a quadrotor with a two DOF robotic arm. In: Proceedings of the 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 4990\u20134995 (2013)"},{"issue":"4","key":"3_CR36","doi-asserted-by":"publisher","first-page":"1912","DOI":"10.1109\/TMECH.2016.2523602","volume":"21","author":"S Kim","year":"2016","unstructured":"Kim, S., Seo, H., Choi, S., Kim, H.J.: Vision-guided aerial manipulation using a multirotor with a robotic arm. IEEE\/ASME Trans. Mechatron. 21(4), 1912\u20131923 (2016)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"1","key":"3_CR37","doi-asserted-by":"publisher","first-page":"259","DOI":"10.1109\/LRA.2015.2510749","volume":"1","author":"V Lippiello","year":"2016","unstructured":"Lippiello, V., Cacace, J., Santamaria-Navarro, A., Andrade-Cetto, J., Trujillo, M.\u00c0., Esteves, Y.R., Viguria, A.: Hybrid visual servoing with hierarchical task composition for aerial manipulation. IEEE Robot. Autom. Lett. 1(1), 259\u2013266 (2016)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"3_CR38","doi-asserted-by":"crossref","unstructured":"Ohnishi, Y., Takaki, T., Aoyama, T., Ishii, I.: Development of a 4-Joint 3-DOF robotic arm with anti-reaction force mechanism for a multicopter. In: Proceedings of the 2013 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 985\u2013991 (2017)","DOI":"10.1109\/IROS.2017.8202265"},{"key":"3_CR39","unstructured":"Parsons, B.N.V., Stanton, S.: Linear actuator. US Patent 4,794,810 (1989)"},{"key":"3_CR40","doi-asserted-by":"publisher","first-page":"262","DOI":"10.20965\/jrm.2016.p0262","volume":"28","author":"K Nonami","year":"2016","unstructured":"Nonami, K.: Drone technology, cutting-edge drone business, and future prospects. J. Robot. Mech. 28, 262\u2013272 (2016)","journal-title":"J. Robot. Mech."},{"key":"3_CR41","volume-title":"Drone (Object Lessons)","author":"A Rothstein","year":"2015","unstructured":"Rothstein, A.: Drone (Object Lessons). Bloomsbury Publishing, New York (2015)"},{"key":"3_CR42","doi-asserted-by":"crossref","unstructured":"Christian, A., Cabell, R.: Initial investigation into the psychoacoustic properties of small unmanned aerial system noise. In: 23rd AIAA\/CEAS Aeroacoustics Conference, AIAA AVIATION Forum, AIAA 2017-4051 (2017)","DOI":"10.2514\/6.2017-4051"},{"key":"3_CR43","doi-asserted-by":"publisher","first-page":"20160078","DOI":"10.1098\/rsfs.2016.0078","volume":"7","author":"H Wagner","year":"2017","unstructured":"Wagner, H., Weger, M., Klaas, M., Schro, W.: Features of owl wings that promote silent flight. Interface Focus 7, 20160078 (2017)","journal-title":"Interface Focus"},{"key":"3_CR44","doi-asserted-by":"publisher","first-page":"661","DOI":"10.1007\/s42235-018-0054-4","volume":"14","author":"T Ikeda","year":"2018","unstructured":"Ikeda, T., Ueda, T., Nakata, T., Noda, R., Tanaka, H., Fujii, T., Liu, H.: Morphology effects of leading-edge serrations on aerodynamic force production: an integrated study with PIV and force measurements. J. Bionic Eng. 14, 661\u2013672 (2018)","journal-title":"J. Bionic Eng."},{"key":"3_CR45","doi-asserted-by":"publisher","first-page":"046008","DOI":"10.1088\/1748-3190\/aa7013","volume":"12","author":"C Rao","year":"2017","unstructured":"Rao, C., Ikeda, T., Nakata, T., Liu, H.: Owl-inspired leading-edge serrations play a crucial role in aerodynamic force production and sound suppression. Bioinspiration Biomim. 12, 046008 (2017)","journal-title":"Bioinspiration Biomim."},{"key":"3_CR46","doi-asserted-by":"crossref","first-page":"1547","DOI":"10.1242\/jeb.205.11.1547","volume":"205","author":"JR Usherwood","year":"2002","unstructured":"Usherwood, J.R., Ellington, C.P.: The aerodynamics of revolving wings I. Model hawkmoth wings. J. Exp. Biol. 205, 1547\u20131564 (2002)","journal-title":"J. Exp. Biol."},{"key":"3_CR47","doi-asserted-by":"publisher","first-page":"115","DOI":"10.1098\/rstb.1984.0053","volume":"305","author":"CP Ellington","year":"1984","unstructured":"Ellington, C.P.: The aerodynamics of hovering insect flight. V. A vortex theory. Philos. Trans. R. Soc. Lond. B 305, 115\u2013144 (1984)","journal-title":"Philos. Trans. R. Soc. Lond. B"},{"key":"3_CR48","doi-asserted-by":"crossref","unstructured":"Henderson, L., Glaser, T., Kuester, L.: Towards bio-inspired structural design of a 3D printable, ballistically deployable, multi-rotor UAV. In: 2017 IEEE Aerospace Conference (2017)","DOI":"10.1109\/AERO.2017.7943970"},{"key":"3_CR49","doi-asserted-by":"publisher","first-page":"025011","DOI":"10.1088\/1748-3182\/9\/2\/025011","volume":"9","author":"J Keshavan","year":"2014","unstructured":"Keshavan, J., Gremillion, G., Escobar-Alravez, H., Humbert, J.S.: A $$\\mu $$ analysis-based controller-synthesis framework for robust bioinspired visual navigation in less-structured environments. Bioinspiration Biomim. 9, 025011 (2014)","journal-title":"Bioinspiration Biomim."},{"key":"3_CR50","doi-asserted-by":"publisher","first-page":"1248","DOI":"10.1109\/LRA.2017.2658946","volume":"2","author":"S Mintichev","year":"2017","unstructured":"Mintichev, S., Rivaz, S., Floreano, D.: Insect-inspired mechanical resilience for multicopters. IEEE Robot. Autom. Lett. 2, 1248\u20131255 (2017)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"3_CR51","doi-asserted-by":"crossref","unstructured":"Sabo, C., Cope, A., Gurny, K., Vasilaki, E., Marshall, J.A.: Bio-inspired visual navigation for a quadcopter using optic flow. In: AIAA Infotech @ Aerospace, AIAA SciTech Forum, AIAA 2016-0404 (2016)","DOI":"10.2514\/6.2016-0404"}],"container-title":["Springer Tracts in Advanced Robotics","Disaster Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-05321-5_3","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,10]],"date-time":"2022-09-10T17:55:31Z","timestamp":1662832531000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-030-05321-5_3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019]]},"ISBN":["9783030053208","9783030053215"],"references-count":51,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-05321-5_3","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"type":"print","value":"1610-7438"},{"type":"electronic","value":"1610-742X"}],"subject":[],"published":{"date-parts":[[2019]]},"assertion":[{"value":"21 January 2019","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}