{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,25]],"date-time":"2026-01-25T23:48:52Z","timestamp":1769384932389,"version":"3.49.0"},"reference-count":50,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2009,8,21]],"date-time":"2009-08-21T00:00:00Z","timestamp":1250812800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2009,10]]},"DOI":"10.1007\/s10514-009-9135-x","type":"journal-article","created":{"date-parts":[[2009,8,20]],"date-time":"2009-08-20T14:57:57Z","timestamp":1250780277000},"page":"165-188","source":"Crossref","is-referenced-by-count":51,"title":["An adaptive vision-based autopilot for mini flying machines guidance, navigation and control"],"prefix":"10.1007","volume":"27","author":[{"given":"Farid","family":"Kendoul","sequence":"first","affiliation":[]},{"given":"Kenzo","family":"Nonami","sequence":"additional","affiliation":[]},{"given":"Isabelle","family":"Fantoni","sequence":"additional","affiliation":[]},{"given":"Rogelio","family":"Lozano","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2009,8,21]]},"reference":[{"key":"9135_CR1","doi-asserted-by":"crossref","unstructured":"Ahrens, S., Levine, D., Andrews, G., & How, J. P. (2009). Vision-based guidance and control of a hovering vehicle in unknown, GPS-denied environments. In Proceedings of the IEEE international conference on robotics and automation (pp.\u00a02643\u20132648), Kobe, Japan, May 2009.","DOI":"10.1109\/ROBOT.2009.5152680"},{"issue":"5","key":"9135_CR2","doi-asserted-by":"crossref","first-page":"329","DOI":"10.1177\/0278364905053804","volume":"24","author":"E. Altug","year":"2005","unstructured":"Altug, E., Ostrowski, J. P., & Taylor, C. J. (2005). Control of a quadrotor helicopter using dual camera visual feedback. International Journal of Robotics Research, 24(5), 329\u2013341.","journal-title":"International Journal of Robotics Research"},{"issue":"2\u20133","key":"9135_CR3","doi-asserted-by":"crossref","first-page":"185","DOI":"10.1016\/S0921-8890(99)00016-0","volume":"28","author":"O. Amidi","year":"1999","unstructured":"Amidi, O., Kanade, T., & Fujita, K. (1999). A visual odometer for autonomous helicopter flight. Robotics and Autonomous Systems, 28(2\u20133), 185\u2013193.","journal-title":"Robotics and Autonomous Systems"},{"key":"9135_CR4","volume-title":"Adaptive control","author":"K. J. Astrom","year":"1989","unstructured":"Astrom, K. J., & Wittenmark, B. (1989). Adaptive control. Reading: Addison-Wesley."},{"key":"9135_CR5","unstructured":"Barrows, G. L. (1999). Mixed-mode VLSI optic flow sensors for micro air vehicles. Ph.D. Dissertation, Department of Electrical Engineering, University of Maryland."},{"key":"9135_CR6","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1007\/s10846-008-9257-y","volume":"54","author":"F. Caballero","year":"2009","unstructured":"Caballero, F., Merino, L., Ferruz, J., & Ollero, A. (2009). Vision-based odometry and slam for medium and high altitude flying UAVs. Journal of Intelligent Robotic Systems, 54, 137\u2013161.","journal-title":"Journal of Intelligent Robotic Systems"},{"issue":"2","key":"9135_CR7","doi-asserted-by":"crossref","first-page":"101","DOI":"10.1177\/0278364904041320","volume":"23","author":"J. S. Chahl","year":"2004","unstructured":"Chahl, J. S., Srinivasan, M. V., & Zhang, S. W. (2004). Landing strategies in honeybees and applications to uninhabited airborne vehicles. International Journal of Robotics Research, 23(2), 101\u2013110.","journal-title":"International Journal of Robotics Research"},{"key":"9135_CR8","doi-asserted-by":"crossref","unstructured":"Frew, E., McGee, T., ZuWhan, K., Xiao, X., Jackson, S., Morimoto, M., Rathinam, S., Padial, J., & Sengupta, R. (2004). Vision-based road-following using a small autonomous aircraft. In Proceedings of the IEEE aerospace conference (Vol.\u00a05, pp.\u00a03006\u20133015), March 2004.","DOI":"10.1109\/AERO.2004.1368106"},{"key":"9135_CR9","unstructured":"Ettinger, S. M., Nechyba, M. C., Ifju, P. G., & Waszak, M. (2002). Towards flight autonomy: Vision-based horizon detection for micro air vehicles. In Proceedings of the Florida conference on recent advances in robotics, Miami, May 2002."},{"key":"9135_CR10","doi-asserted-by":"crossref","unstructured":"Fowers, S. G., Lee, D.-J., Tippetts, B. J., Lillywhite, K. D., Dennis, A. W., & Archibald, J. K. (2007). Vision aided stabilization and the development of a quad-rotor micro uav. In Proceedings of the IEEE international symposium on computational intelligence in robotics and automation (pp. 143\u2013148), Florida, USA, June 2007.","DOI":"10.1109\/CIRA.2007.382886"},{"issue":"4\u20135","key":"9135_CR11","doi-asserted-by":"crossref","first-page":"284","DOI":"10.1002\/rob.20239","volume":"25","author":"M. A. Garratt","year":"2008","unstructured":"Garratt, M. A., & Chahl, J. S. (2008). Vision-based terrain following for an unmanned rotorcraft. Journal of Field Robotics, 25(4\u20135), 284\u2013301.","journal-title":"Journal of Field Robotics"},{"key":"9135_CR12","volume-title":"Adaptive filtering prediction and control","author":"G. C. Goodwin","year":"1984","unstructured":"Goodwin, G. C., & Sin, K. C. (1984). Adaptive filtering prediction and control. Englewood Cliffs: Prentice Hall."},{"key":"9135_CR13","doi-asserted-by":"crossref","unstructured":"Green, W. E., Oh, P. Y., Sevcik, K., & Barrows, G. (2003). Autonomous landing for indoor flying robots using optic flow. In Proceedings of the 2003 ASME international mechanical engineering congress, Washington, 15\u201321 November 2003.","DOI":"10.1115\/IMECE2003-55424"},{"issue":"2","key":"9135_CR14","doi-asserted-by":"crossref","first-page":"331","DOI":"10.1109\/TRO.2008.916666","volume":"24","author":"N. Guenard","year":"2008","unstructured":"Guenard, N., Hamel, T., & Mahony, R. (2008). A practical visual servo control for a unmanned aerial vehicle. IEEE Transactions on Robotics, 24(2), 331\u2013341.","journal-title":"IEEE Transactions on Robotics"},{"key":"9135_CR15","unstructured":"He, R., Prentice, S., & Roy, N. (2008). Planning in information space for a quadrotor helicopter in a GPS-denied environment. In Proceedings of the IEEE international conference on robotics and automation (pp.\u00a01814\u20131820), California, USA, May 2008."},{"key":"9135_CR16","doi-asserted-by":"crossref","unstructured":"Herisse, B., Russotto, F.-X., Hamel, T., & Mahony, R. (2008). Hovering flight and vertical landing control of a VTOL unmanned aerial vehicle using optical flow. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (pp.\u00a0801\u2013806), Nice, France, September 2008.","DOI":"10.1109\/IROS.2008.4650731"},{"key":"9135_CR17","doi-asserted-by":"crossref","unstructured":"Hrabar, S., Sukhatme, G. S., Corke, P., Usher, K., & Roberts, J. (2005). Combined optic-flow and stereo-based navigation of urban canyons for a UAV. In Proceedings of the IEEE international conference on intelligent robots and systems (pp.\u00a0302\u2013309), Canada, 2005.","DOI":"10.1109\/IROS.2005.1544998"},{"key":"9135_CR18","volume-title":"Robust adaptive control","author":"P. Ioannou","year":"1996","unstructured":"Ioannou, P., & Sun, J., (1996). Robust adaptive control. Englewood Cliffs: Prentice Hall Inc."},{"key":"9135_CR19","doi-asserted-by":"crossref","unstructured":"Johnson, A., Montgomery, J., & Matthies, L. (2005). Vision guided landing of an autonomous helicopter in hazardous terrain. In Proceedings of the IEEE international conference on robotics and automation (pp.\u00a04470\u20134475), Barcelona, Spain, April 2005.","DOI":"10.1109\/ROBOT.2005.1570727"},{"issue":"4","key":"9135_CR20","doi-asserted-by":"crossref","first-page":"707","DOI":"10.2514\/1.23410","volume":"4","author":"A. J. Calise","year":"2007","unstructured":"Calise, A. J., Watanabe, Y., Ha, J., Neidhoefer, J. C., & Johnson, E. N. (2007). Real-time vision-based relative aircraft navigation. AIAA Journal of Aerospace Computing, Information, and Communication, 4(4), 707\u2013738.","journal-title":"AIAA Journal of Aerospace Computing, Information, and Communication"},{"key":"9135_CR21","doi-asserted-by":"crossref","unstructured":"Kanade, T., Amidi, O., & Ke, Q. (2004). Real-time and 3d vision for autonomous small and micro air vehicles. In Proceedings of the 43rd IEEE conference on decision and control (pp.\u00a01655\u20131662), Atlantis, Bahamas, December 2004.","DOI":"10.1109\/CDC.2004.1430282"},{"key":"9135_CR22","unstructured":"Kendoul, F. (2007). Modelling and control of unmanned aerial vehicles, and development of a vision-based autopilot for small rotorcraft navigation. Ph.D. Thesis Report, CNRS Heudiasyc Laboratory, University of Technology of Compiegne, France."},{"key":"9135_CR23","doi-asserted-by":"crossref","unstructured":"Kendoul, F., Fantoni, I., & Lozano, R. (2008). Adaptive vision-based controller for small rotorcraft uavs control and guidance. In Proceedings of the 17th IFAC world congress (pp.\u00a0797\u2013802), Seoul, Korea, 6\u201311 July 2008.","DOI":"10.3182\/20080706-5-KR-1001.00137"},{"key":"9135_CR24","doi-asserted-by":"crossref","first-page":"591","DOI":"10.1016\/j.robot.2009.02.001","volume":"57","author":"F. Kendoul","year":"2009","unstructured":"Kendoul, F., Fantoni, I., & Nonami, K. (2009a). Optic flow-based vision system for autonomous 3D localization and control of small aerial vehicles. Robotics and Autonomous Systems (Elsevier), 57, 591\u2013602.","journal-title":"Robotics and Autonomous Systems (Elsevier)"},{"key":"9135_CR25","doi-asserted-by":"crossref","unstructured":"Kendoul, F., Zhenyu, Y., & Nonami, K. (2009b). Embedded autopilot for accurate waypoint navigation and trajectory tracking: Application to miniature rotorcraft uavs. In Proceedings of the IEEE international conference on robotics and automation (pp.\u00a02884\u20132890), Kobe, Japan, May 2009.","DOI":"10.1109\/ROBOT.2009.5152549"},{"key":"9135_CR26","doi-asserted-by":"crossref","first-page":"62","DOI":"10.1016\/j.robot.2006.06.006","volume":"55","author":"J. Kima","year":"2007","unstructured":"Kima, J., & Sukkarieh, S. (2007). Real-time implementation of airborne inertial-SLAM. Robotics and Autonomous Systems, 55, 62\u201371.","journal-title":"Robotics and Autonomous Systems"},{"key":"9135_CR27","unstructured":"Lacroix, S., Jung, I. K., Soueres, P., Hygounenc, E., & Berry, J. P. (2002). The autonomous blimp project of LAAS\/CNRS: Current status and research challenges. In Proceedings of the workshop WS6 aerial robotics, IEEE\/RSJ international conference on intelligent robots and systems (pp.\u00a035\u201342), Lausanne, Switzerland, 2002."},{"key":"9135_CR28","series-title":"Communications and control engineering","doi-asserted-by":"crossref","DOI":"10.1007\/978-0-85729-343-5","volume-title":"Adaptive control","author":"I. D. Landau","year":"1998","unstructured":"Landau, I. D., Lozano, R., & M\u2019Saad, M. (1998). Adaptive control. Communications and control engineering. Berlin: Springer."},{"key":"9135_CR29","unstructured":"Lucas, B., & Kanade, T. (1981). An iterative image registration technique with an application to stereo vision. In Proceedings of the DARPA IU workshop (pp.\u00a0121\u2013130)."},{"issue":"3\/4","key":"9135_CR30","doi-asserted-by":"crossref","first-page":"185","DOI":"10.1002\/rob.20115","volume":"23","author":"L. Mejias","year":"2006","unstructured":"Mejias, L., Saripalli, S., Campoy, P., & S Sukhatme, G. (2006). Visual servoing of an autonomous helicopter in urban areas using feature tracking. Journal of Field Robotics, 23(3\/4), 185\u2013199.","journal-title":"Journal of Field Robotics"},{"key":"9135_CR31","doi-asserted-by":"crossref","unstructured":"Mori, R., Hirata, K., & Kinoshita, T. (2007). Vision-based guidance control of a small-scale unmanned helicopter. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (pp.\u00a02648\u20132653), San Diego, CA, USA, Oct. 29\u2013Nov. 2007.","DOI":"10.1109\/IROS.2007.4399623"},{"key":"9135_CR32","unstructured":"Olfati-Saber, R. (2001). Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles. Ph.D. Thesis Report, Department of Electrical Engineering and Computer Science, MIT, USA, February 2001."},{"issue":"10","key":"9135_CR33","doi-asserted-by":"crossref","first-page":"863","DOI":"10.1002\/rob.20155","volume":"23","author":"A. A. Proctor","year":"2006","unstructured":"Proctor, A. A., Johnson, E. N., & Apker, T. B. (2006). Vision-only control and guidance for aircraft. Journal of Field Robotics, 23(10), 863\u2013890.","journal-title":"Journal of Field Robotics"},{"key":"9135_CR34","unstructured":"Roberts, J. F., Stirling, T., Zufferey, J. C., & Floreano, D. (2007). Quadrotor using minimal sensing for autonomous indoor flight. In European micro air vehicle conference and flight competition (EMAV), Toulouse, France, September 2007."},{"issue":"4","key":"9135_CR35","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1016\/j.robot.2004.09.016","volume":"50","author":"F. Ruffier","year":"2005","unstructured":"Ruffier, F., & Franceschini, N. (2005). Optic flow regulation: the key to aircraft automatic guidance. Robotics and Autonomous Systems, 50(4), 177\u2013194.","journal-title":"Robotics and Autonomous Systems"},{"issue":"3","key":"9135_CR36","doi-asserted-by":"crossref","first-page":"371","DOI":"10.1109\/TRA.2003.810239","volume":"19","author":"S. Saripalli","year":"2003","unstructured":"Saripalli, S., Montgomery, J. F., & Sukhatme, G. S. (2003). Visually-guided landing of an unmanned aerial vehicle. IEEE Transactions on Robotics and Automation, 19(3), 371\u2013381.","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"5","key":"9135_CR37","doi-asserted-by":"crossref","first-page":"549","DOI":"10.1177\/0278364908090949","volume":"27","author":"S. Scherer","year":"2008","unstructured":"Scherer, S., Singh, S., Chamberlain, L., & Elgersma, M. (2008). Flying fast and low among obstacles: Methodology and experiments. International Journal of Robotics Research, 27(5), 549\u2013574.","journal-title":"International Journal of Robotics Research"},{"key":"9135_CR38","series-title":"Communications and control engineering series","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4471-0967-9","volume-title":"Constructive nonlinear control","author":"R. Sepulcre","year":"1997","unstructured":"Sepulcre, R., Jankovic, M., & Kokotovic, P. (1997). Constructive nonlinear control. Communications and control engineering series. Berlin: Springer."},{"key":"9135_CR39","doi-asserted-by":"crossref","first-page":"103","DOI":"10.1007\/s10514-007-9069-0","volume":"25","author":"J. Serres","year":"2008","unstructured":"Serres, J., Dray, D., Ruffier, F., & Franceschini, N. (2008). A vision-based autopilot for a miniature air vehicle: joint speed control and lateral obstacle avoidance. Autonomous Robots, 25, 103\u2013122.","journal-title":"Autonomous Robots"},{"key":"9135_CR40","doi-asserted-by":"crossref","unstructured":"Shakernia, O., Sharp, C. S., Vidal, R., Shim, D. H., Ma, Y., & Sastry,\u00a0S. (2002). Multiple view motion estimation and control for landing an unmanned aerial vehicle. In Proceedings of the IEEE conference on robotics and automation (Vol. 3, pp.\u00a02793\u20132798).","DOI":"10.1109\/ROBOT.2002.1013655"},{"key":"9135_CR41","unstructured":"Shi, J., & Tomasi, C. (1994). Good features to track. In Proceedings of the IEEE conference on computer vision and pattern recognition (pp.\u00a0593\u2013600), Seattle, WA, USA."},{"key":"9135_CR42","doi-asserted-by":"crossref","first-page":"435","DOI":"10.1109\/9.28018","volume":"34","author":"E. D. Sontag","year":"1988","unstructured":"Sontag, E. D. (1988). Smooth stabilization implies coprime factorization. IEEE Transactions on Automatic Control, 34, 435\u2013443.","journal-title":"IEEE Transactions on Automatic Control"},{"key":"9135_CR43","volume-title":"Visual motion and its role in the stabilisation of gaze","author":"M. V. Srinivasan","year":"1993","unstructured":"Srinivasan, M. V., Miles, F. A., & Wallman, J. (1993). Visual motion and its role in the stabilisation of gaze. Amsterdam: Elsevier."},{"issue":"1","key":"9135_CR44","doi-asserted-by":"crossref","first-page":"237","DOI":"10.1242\/jeb.199.1.237","volume":"199","author":"M. V. Srinivasan","year":"1996","unstructured":"Srinivasan, M. V., Zhang, S. W., Lehrer, M., & Collett, T. S. (1996). Honeybee navigation en route to the gaoal: Visual flight control and odometry. The Journal of Experimental Biology, 199(1), 237\u2013244.","journal-title":"The Journal of Experimental Biology"},{"key":"9135_CR45","doi-asserted-by":"crossref","first-page":"2513","DOI":"10.1242\/jeb.200.19.2513","volume":"200","author":"M. V. Srinivasan","year":"1997","unstructured":"Srinivasan, M. V., Zhang, S. W., & Bidwell, N. J. (1997). Visually mediated odometry in honeybees. The Journal of Experimental Biology, 200, 2513\u20132522.","journal-title":"The Journal of Experimental Biology"},{"key":"9135_CR46","doi-asserted-by":"crossref","first-page":"327","DOI":"10.1242\/jeb.205.3.327","volume":"205","author":"L. F. Tammero","year":"2002","unstructured":"Tammero, L. F., & Dickinson, M. H. (2002). The influence of visual landscape on the free flight behavior of the fruit fly drosophila melanogaster. Journal of Experimental Biology, 205, 327\u2013343.","journal-title":"Journal of Experimental Biology"},{"key":"9135_CR47","doi-asserted-by":"crossref","first-page":"512","DOI":"10.1242\/jeb.36.3.512","volume":"36","author":"G. K. Wallace","year":"1959","unstructured":"Wallace, G. K. (1959). Visual scanning in the desert locust schistocerca gregaria. The Journal of Experimental Biology, 36, 512\u2013525.","journal-title":"The Journal of Experimental Biology"},{"issue":"6","key":"9135_CR48","doi-asserted-by":"crossref","first-page":"621","DOI":"10.20965\/jrm.2001.p0621","volume":"13","author":"H. Yamada","year":"2001","unstructured":"Yamada, H., Ichikawa, M., & Takeuchi, J. (2001). Flying robot with biologically inspired vision. Journal of Robotics and Mechatronics, 13(6), 621\u2013624.","journal-title":"Journal of Robotics and Mechatronics"},{"issue":"1","key":"9135_CR49","first-page":"51","volume":"4","author":"Z. Yu","year":"2007","unstructured":"Yu, Z., Nonami, K., Shin, J., & Celestino, D. (2007). 3D vision based landing control of a small scale autonomous helicopter. International Journal of Advanced Robotic Systems, 4(1), 51\u201356.","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"1","key":"9135_CR50","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1109\/TRO.2005.858857","volume":"22","author":"J. C. Zufferey","year":"2006","unstructured":"Zufferey, J. C., & Floreano, D. (2006). Fly-inspired visual steering of an ultralight indoor aircraft. IEEE Transactions On Robotics, 22(1), 137\u2013146.","journal-title":"IEEE Transactions On Robotics"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-009-9135-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-009-9135-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-009-9135-x","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,9]],"date-time":"2021-10-09T21:46:05Z","timestamp":1633815965000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-009-9135-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,8,21]]},"references-count":50,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2009,10]]}},"alternative-id":["9135"],"URL":"https:\/\/doi.org\/10.1007\/s10514-009-9135-x","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,8,21]]}}}