{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,4,20]],"date-time":"2025-04-20T20:10:04Z","timestamp":1745179804094,"version":"3.40.4"},"reference-count":41,"publisher":"Springer Science and Business Media LLC","issue":"1-4","license":[{"start":{"date-parts":[[2012,11,14]],"date-time":"2012-11-14T00:00:00Z","timestamp":1352851200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2013,1]]},"DOI":"10.1007\/s10846-012-9791-5","type":"journal-article","created":{"date-parts":[[2012,11,13]],"date-time":"2012-11-13T11:30:49Z","timestamp":1352806249000},"page":"189-205","source":"Crossref","is-referenced-by-count":18,"title":["Cross-Entropy Optimization for Scaling Factors of a Fuzzy Controller: A See-and-Avoid Approach for Unmanned Aerial Systems"],"prefix":"10.1007","volume":"69","author":[{"given":"Miguel A.","family":"Olivares-Mendez","sequence":"first","affiliation":[]},{"given":"Luis","family":"Mejias","sequence":"additional","affiliation":[]},{"given":"Pascual","family":"Campoy","sequence":"additional","affiliation":[]},{"given":"Ignacio","family":"Mellado-Bataller","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2012,11,14]]},"reference":[{"key":"9791_CR1","doi-asserted-by":"crossref","unstructured":"Zadeh, L.A.: Fuzzy logic and soft computing: issues, contentions and perspectives. In: Proc. IIZUKA94: 3rd Int. Conf. Fuzzy Logic, Neural Nets and Soft Computing, pp. 1\u20132 (1994)","DOI":"10.1145\/175247.175255"},{"key":"9791_CR2","unstructured":"United States Department of Defense: [Online]. Available: http:\/\/www.defense.gov (2010). Accessed 1 May 2010"},{"key":"9791_CR3","unstructured":"Meister, O., Frietsch, N., Ascher, C., Trommer, G.: Adaptive path planning for a VTOL-UAV. In: Position, Location and Navigation Symposium, 2008 IEEE\/ION, pp. 1252\u20131259 (2008)"},{"key":"9791_CR4","doi-asserted-by":"crossref","unstructured":"Moses, A., Rutherford, M., Valavanis, K.: Radar-based detection and identification for miniature air vehicles. In: 2011 IEEE International Conference on Control Applications (CCA), pp.\u00a0933\u2013940 (2011)","DOI":"10.1109\/CCA.2011.6044363"},{"key":"9791_CR5","unstructured":"Hibrid System Laboratory, Berkeley University, Quadrotor and Kinect: [Online]. Available: http:\/\/hybrid.eecs.berkeley.edu\/ (2012). Accessed 22 January 2012"},{"issue":"2","key":"9791_CR6","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1002\/rob.20359","volume":"28","author":"JS Lai","year":"2011","unstructured":"Lai, J.S., Mejias, L., Ford, J.J.: Airborne vision-based collision-detection system. J. Field Robot. 28(2), 137\u2013157 (2011). [Online]. Available: http:\/\/eprints.qut.edu.au\/32801\/ . Accessed 4 August 2010","journal-title":"J. Field Robot."},{"key":"9791_CR7","unstructured":"Mejias, L., Mondragon, I., Campoy, P.: Omnidirectional bearing-only see-and-avoid for small aerial robots. In: The 5th International Conference on Automation, Robotics and Applications. IEEE, Wellington (2011). [Online]. Available: http:\/\/eprints.qut.edu.au\/46597\/ . Accessed 17 October 2011"},{"key":"9791_CR8","unstructured":"Mejias, L., McNamara, S., Lai, J.S., Ford, J.J.: Vision-based detection and tracking of aerial targets for UAV collision avoidance. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, Taipei (2010). [Online]. Available: http:\/\/eprints.qut.edu.au\/32793\/ . Accessed 11 December 2010"},{"issue":"1\u20134","key":"9791_CR9","doi-asserted-by":"crossref","first-page":"295","DOI":"10.1007\/s10846-011-9588-y","volume":"65","author":"AER Shabayek","year":"2012","unstructured":"Shabayek, A.E.R., Demonceaux, C., Morel, O., Fofi, D.: Vision based UAV attitude estimation: progress and insights. J. Intell. Robot. Syst. 65(1\u20134), 295\u2013308 (2012)","journal-title":"J. Intell. Robot. Syst."},{"key":"9791_CR10","doi-asserted-by":"crossref","first-page":"301","DOI":"10.1007\/s10846-010-9505-9","volume":"61","author":"C Martinez","year":"2011","unstructured":"Martinez, C., Mondragon, I., Olivares-Mendez, M., Campoy, P.: On-board and ground visual pose estimation techniques for UAV control. J. Intell. Robot. Syst. 61, 301\u2013320 (2011). doi: 10.1007\/s10846-010-9505-9","journal-title":"J. Intell. Robot. Syst."},{"issue":"6","key":"9791_CR11","doi-asserted-by":"crossref","first-page":"714","DOI":"10.1177\/0278364911433777","volume":"31","author":"D Dusha","year":"2012","unstructured":"Dusha, D., Mejias, L.: Error analysis and attitude observability of a monocular GPS\/visual odometry integrated navigation filter. Int. J. Rob. Res. 31(6), 714\u2013737 (2012). [Online]. Available: http:\/\/eprints.qut.edu.au\/46549\/","journal-title":"Int. J. Rob. Res."},{"issue":"6","key":"9791_CR12","doi-asserted-by":"crossref","first-page":"1083","DOI":"10.1016\/0005-1098(92)90053-I","volume":"28","author":"K Hunt","year":"1992","unstructured":"Hunt, K., Sbarbaro, D., Zbikowski, R., Gawthrop, P.: Neural networks for control systems: a survey. Automatica 28(6), 1083\u20131112 (1992). [Online]. Available: http:\/\/www.sciencedirect.com\/science\/article\/pii\/000510989290053I","journal-title":"Automatica"},{"issue":"3","key":"9791_CR13","doi-asserted-by":"crossref","first-page":"213","DOI":"10.1016\/j.compind.2010.10.001","volume":"62","author":"R-E Precup","year":"2011","unstructured":"Precup, R.-E., Hellendoorn, H.: A survey on industrial applications of fuzzy control. Comput. Ind. 62(3), 213\u2013226 (2011). [Online]. Available: http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0166361510001363","journal-title":"Comput. Ind."},{"key":"9791_CR14","doi-asserted-by":"crossref","unstructured":"Zheng, L.: A practical guide to tune of proportional and integral (PI) like fuzzy controllers. In: IEEE International Conference on Fuzzy Systems, pp. 633\u2013640 (1992)","DOI":"10.1109\/FUZZY.1992.258734"},{"key":"9791_CR15","doi-asserted-by":"crossref","first-page":"32","DOI":"10.5121\/ijsc.2011.2303","volume":"2","author":"R Malhotra","year":"2011","unstructured":"Malhotra, R., Singh, N., Singh, Y.: Soft computing techniques for process control applications. Int. J. Soft Comput. 2, 32\u201344 (2011)","journal-title":"Int. J. Soft Comput."},{"key":"9791_CR16","doi-asserted-by":"crossref","unstructured":"Bonissone, P., Khedkar, P., Chen, Y.: Genetic algorithms for automated tuning of fuzzy controllers: a transportation application. In: Proceedings of the Fifth IEEE International Conference on Fuzzy Systems, vol.\u00a01, pp. 674\u2013680 (1996)","DOI":"10.1109\/FUZZY.1996.551819"},{"key":"9791_CR17","unstructured":"Li, W.: Optimization of a fuzzy controller using neural network. In: Proceedings of the Third IEEE Conference on Fuzzy Systems. IEEE World Congress on Computational Intelligence, vol.\u00a01, pp. 223\u2013227 (1994)"},{"key":"9791_CR18","doi-asserted-by":"crossref","first-page":"665","DOI":"10.1109\/21.256541","volume":"23","author":"J-SR Jang","year":"1993","unstructured":"Jang, J.-S.R.: ANFIS: adaptive-network-based fuzzy inference system. IEEE Trans. Syst. Man Cybern. 23, 665\u2013685 (1993)","journal-title":"IEEE Trans. Syst. Man Cybern."},{"key":"9791_CR19","unstructured":"Werbos, P.: Beyond regression: new tools for prediction and analysis in the behavioral sciences. Ph.D. dissertation, Harvard University, Cambridge, MA (1974)"},{"key":"9791_CR20","doi-asserted-by":"crossref","unstructured":"Bonissone, P.P., Chen, Y.-T., Goebel, K., Khedkar, P.S.: Hybrid soft computing systems: industrial and commercial applications. In Proceedings of the IEEE (1999)","DOI":"10.1109\/5.784245"},{"key":"9791_CR21","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1016\/S0377-2217(96)00385-2","volume":"99","author":"RY Rubinstein","year":"1996","unstructured":"Rubinstein, R.Y.: Optimization of computer simulation models with rare events. Eur. J. Oper. Res. 99, 89\u2013112 (1996)","journal-title":"Eur. J. Oper. Res."},{"key":"9791_CR22","unstructured":"Belmudes, F., Ernst, D., Wehenkel, L.: Cross-entropy based rare-event simulation for the identification of dangerous events in power systems. In: Proceedings of the 10th International Conference on Probabilistic Methods Applied to Power Systems. PMAPS \u201908, pp. 1\u20137 (2008)"},{"key":"9791_CR23","doi-asserted-by":"crossref","unstructured":"Celeste, F., Dambreville, F., Le Cadre, J.-P.: Optimal path planning using cross-entropy method. In: 2006 9th International Conference on Information Fusion, pp. 1\u20138 (2006)","DOI":"10.1109\/ICIF.2006.301717"},{"issue":"6","key":"9791_CR24","doi-asserted-by":"crossref","first-page":"1131","DOI":"10.1049\/iet-map:20060241","volume":"1","author":"Y Zhang","year":"2007","unstructured":"Zhang, Y., Ji, C., Malik, W., O\u2019Brien, D., Edwards, D.: Cross-entropy optimisation of multiple-input multiple-output capacity by transmit antenna selection. IET Microwaves Antennas Propag. 1(6), 1131\u20131136 (2007)","journal-title":"IET Microwaves Antennas Propag."},{"key":"9791_CR25","doi-asserted-by":"crossref","unstructured":"Kobilarov, M.: Cross-entropy randomized motion planning. In: Proceedings of Robotics: Science and Systems, Los Angeles, CA, USA (2011)","DOI":"10.15607\/RSS.2011.VII.022"},{"key":"9791_CR26","unstructured":"Bodur, M.: An adaptive cross-entropytuning of the PID control for robot manipulators. In: Proceedings of the World Congress on Engineering, WCE 2007, pp. 93\u201398 (2007)"},{"key":"9791_CR27","doi-asserted-by":"crossref","first-page":"2777","DOI":"10.1016\/j.ins.2010.03.030","volume":"180","author":"RE Haber","year":"2010","unstructured":"Haber, R.E., del Toro, R.M., Gajate, A.: Optimal fuzzy control system using the cross-entropy method. A case study of a drilling process. Inf. Sci. 180, 2777\u20132792 (2010)","journal-title":"Inf. Sci."},{"key":"9791_CR28","unstructured":"Bradski, G.: Computer vision face tracking for use in a perceptual user interface. In: IEEE Workshop on Applications of Computer Vision, Princeton, NJ, pp. 214\u2013219 (1998)"},{"issue":"1","key":"9791_CR29","doi-asserted-by":"crossref","first-page":"32","DOI":"10.1109\/TIT.1975.1055330","volume":"21","author":"K Fukunaga","year":"1975","unstructured":"Fukunaga, K., Hostetler, L.: The estimation of the gradient of a density function, with applications in pattern recognition. IEEE Trans. Inf. Theory 21(1), 32\u201340 (1975)","journal-title":"IEEE Trans. Inf. Theory"},{"key":"9791_CR30","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1007\/s10514-010-9183-2","volume":"29","author":"I Mondrag\u00f3n","year":"2010","unstructured":"Mondrag\u00f3n, I., Olivares-M\u00e9ndez, M., Campoy, P. Mart\u00ednez, C., Mejias, L.: Unmanned aerial vehicles uavs attitude, height, motion estimation and control using visual systems. Auton. Robots 29, 17\u201334 (2010). doi: 10.1007\/s10514-010-9183-2","journal-title":"Auton. Robots"},{"key":"9791_CR31","doi-asserted-by":"crossref","unstructured":"Olivares-Mendez, M., Mondragon, I., Campoy, P., Martinez, C.: Fuzzy controller for UAV-landing task using 3d-position visual estimation. In: 2010 IEEE International Conference on Fuzzy Systems (FUZZ), pp. 1\u20138 (2010)","DOI":"10.1109\/FUZZY.2010.5584396"},{"key":"9791_CR32","doi-asserted-by":"crossref","unstructured":"Olivares-Mendez, M., Mellado, I., Campoy, P., Mondragon, I., Martinez, C.: A visual AGV-urban car using fuzzy control. In: 2011 IEEE International Conference on Automation, Robotics and Applicatios (ICARA) (2011)","DOI":"10.1109\/ICARA.2011.6144872"},{"key":"9791_CR33","doi-asserted-by":"crossref","unstructured":"Rubinstein, R.Y., Kroese, D.P.: The Cross-Entropy Method: A Unified Approach To Combinatorial Optimization, Monte-Carlo Simulation (Information Science and Statistics). Springer, Secaucus (2004)","DOI":"10.1007\/978-1-4757-4321-0_4"},{"key":"9791_CR34","unstructured":"Botev, Z., Kroese, D.P.: Global likelihood optimization via the cross-entropy method with an application to mixture models. In: Proceedings of the 36th Conference on Winter Simulation, pp. 529\u2013535 (2004)"},{"key":"9791_CR35","unstructured":"Robot Operating System (ROS): [Online]. Available: http:\/\/ros.org\/wiki\/gazebo (2012)"},{"key":"9791_CR36","unstructured":"Starmac-ROS package. Hybrid Systems Laboratory, UC Berkeley (2012). [Online]. Available: http:\/\/www.ros.org\/wiki\/starmac-ros-pkg"},{"key":"9791_CR37","unstructured":"Ar.Drone Parrot (2010). [Online]. Available: http:\/\/ardrone.parrot.com"},{"key":"9791_CR38","unstructured":"Computer Vision Group-UPM (2012). [Online]. Available: http:\/\/www.vision4uav.eu"},{"key":"9791_CR39","unstructured":"Motion Capture System from VICON (2012). [Online]. Available: http:\/\/www.vicon.com"},{"key":"9791_CR40","unstructured":"Computer Vision Group-UPM. See and avoid fuzzy controller scaling factors optimized using cross-entropy (2012). [Online]. Available: http:\/\/vision4uav.eu\/?q=researchline\/SeeAndAvoidCE_SF"},{"key":"9791_CR41","unstructured":"Youtube Channel Computer Vision Group-UPM (2012). [Online]. Available: http:\/\/www.youtube.com\/colibriprojectUAV"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-012-9791-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-012-9791-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-012-9791-5","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,4,20]],"date-time":"2025-04-20T19:43:07Z","timestamp":1745178187000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-012-9791-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,11,14]]},"references-count":41,"journal-issue":{"issue":"1-4","published-print":{"date-parts":[[2013,1]]}},"alternative-id":["9791"],"URL":"https:\/\/doi.org\/10.1007\/s10846-012-9791-5","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2012,11,14]]}}}