{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,12]],"date-time":"2025-11-12T03:18:51Z","timestamp":1762917531359},"reference-count":50,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2014,7,24]],"date-time":"2014-07-24T00:00:00Z","timestamp":1406160000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/2.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2015,8]]},"DOI":"10.1007\/s10846-014-0062-5","type":"journal-article","created":{"date-parts":[[2014,7,23]],"date-time":"2014-07-23T16:23:53Z","timestamp":1406132633000},"page":"275-293","update-policy":"http:\/\/dx.doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":31,"title":["Optic Flow Regulation in Unsteady Environments: A Tethered MAV Achieves Terrain Following and Targeted Landing Over a Moving Platform"],"prefix":"10.1007","volume":"79","author":[{"given":"Franck","family":"Ruffier","sequence":"first","affiliation":[]},{"given":"Nicolas","family":"Franceschini","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2014,7,24]]},"reference":[{"issue":"4","key":"62_CR1","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.: Optic flow regulation: the key to aircraft automatic guidance. Robot. Auton. Syst. 50(4), 177\u2013194 (2005)","journal-title":"Robot. Auton. Syst."},{"key":"62_CR2","doi-asserted-by":"crossref","first-page":"329","DOI":"10.1016\/j.cub.2006.12.032","volume":"17","author":"N Franceschini","year":"2007","unstructured":"Franceschini, N., Ruffier, F., Serres, J.: A bio-inspired flying robot sheds light on insect piloting abilities. Curr. Biol. 17, 329\u2013335 (2007)","journal-title":"Curr. Biol."},{"key":"62_CR3","unstructured":"Sousa, P., Wellons, L., Colby, G., Walters, J., Weir, J.: Test results of an f\/a-18 automatic carrier landing using shipboard relative global positioning system. Technical report, Naval Air Warfare Center Aircraft Division, Tech. Rep (2003)"},{"key":"62_CR4","unstructured":"Reboulet, C.: Appontage automatique d\u2019un uav -onera dcsd toulouse-. In: Proceedings of the JNRR\u201999, Montpellier (1999)"},{"key":"62_CR5","doi-asserted-by":"crossref","unstructured":"Coutard, L., Chaumette, F., Pflimlin, J.M.: Automatic landing on aircraft carrier by visual servoing. In: IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems, IROS\u201911. San Francisco, pp 2843\u20132848 (2011)","DOI":"10.1109\/IROS.2011.6094887"},{"key":"62_CR6","unstructured":"Vu, B., Lemoing, T., Costes, P.: Integration of flight and carrier landing aid systems for shipboard operations. In: AGARD, Aircraft Ship Operations 15 (1991)"},{"issue":"1","key":"62_CR7","doi-asserted-by":"crossref","first-page":"187","DOI":"10.2514\/3.21177","volume":"17","author":"M Subrahmanyam","year":"1994","unstructured":"Subrahmanyam, M.: H infinity design of f\/a-18a automatic carrier landing system. Journal of Guidance. Control Dyn. 17(1), 187\u2013191 (1994)","journal-title":"Control Dyn."},{"issue":"1","key":"62_CR8","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1109\/TRO.2005.858857","volume":"22","author":"JC Zufferey","year":"2006","unstructured":"Zufferey, J.C., Floreano, D.: Fly-inspired visual steering of ultralight indoor aircraft. IEEE Trans. Robot. 22(1), 137\u2013146 (2006)","journal-title":"IEEE Trans. Robot."},{"key":"62_CR9","doi-asserted-by":"crossref","unstructured":"de Croon, G., Ho, H., Wagter, C.D., van Kampen, E., Remes, B., Chu, Q.: Optic-flow based slope estimation for autonomous landing. In: International Micro Air Vehicle Conference and Flight Competition (IMAV2013). Toulouse (2013)","DOI":"10.1260\/1756-8293.5.4.287"},{"key":"62_CR10","volume-title":"Optic-flow based control of a 46g quadrotor. In: Workshop on Vision-based Closed-Loop Control and Navigation of Micro Helicopters in GPS-denied Environments","author":"A Briod","year":"2013","unstructured":"Briod, A., Zufferey, J.C., Floreano, D.: Optic-flow based control of a 46g quadrotor. In: Workshop on Vision-based Closed-Loop Control and Navigation of Micro Helicopters in GPS-denied Environments. IROS, Tokyo (2013)"},{"issue":"6132","key":"62_CR11","doi-asserted-by":"crossref","first-page":"603","DOI":"10.1126\/science.1231806","volume":"340","author":"K Ma","year":"2013","unstructured":"Ma, K., Chirarattananon, P., Fuller, S., Wood, R.: Controlled flight of a biologically inspired, insect-scale robot. Science 340(6132), 603\u2013607 (2013)","journal-title":"Science"},{"key":"62_CR12","doi-asserted-by":"crossref","unstructured":"Voskuijl, M., Padfield, G., Walker, D., Manimala, B., Gubbels, A.: Simulation of automatic helicopter deck landings using nature inspired flight control and flight envelope protection. Aeronaut. J. 114(1151): Paper No. 3426. (2008)","DOI":"10.1017\/S000192400000350X"},{"issue":"3","key":"62_CR13","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., Sukhatme, G.: Visually guided landing of an unmanned aerial vehicle. IEEE Trans. Robot. Autom. 19(3), 371\u2013380 (2003)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"62_CR14","doi-asserted-by":"crossref","unstructured":"Saripalli, S., Sukhatme, G.S.: Landing a helicopter on a moving target. In: Proceedings of 2007 IEEE International Conference on Robotics and Automation (2007)","DOI":"10.1109\/ROBOT.2007.363620"},{"key":"62_CR15","doi-asserted-by":"crossref","unstructured":"Edwards, B., Archibald, J., Fife, W., Lee, D.J.: A vision system for precision MAV targeted landing. In: International Symposium on Computational Intelligence in Robotics and Automation (CIRA 2007), 20\u201323 June 2007, pp. 125\u2013130 (2007)","DOI":"10.1109\/CIRA.2007.382912"},{"key":"62_CR16","unstructured":"Rui, W., Guangjun, Z., Peng, Y.: Optical flow based 3d motion estimation for autonomous landing an uav on deck. In: Proceedings of SPIE, the International Society for Optical Engineering ISSN 0277-786X CODEN PSISD, International conference on space information technology (19\u201320 November, 2005, Wuhan, China ). Volume 5985 (2006)"},{"issue":"4","key":"62_CR17","doi-asserted-by":"crossref","first-page":"307","DOI":"10.1007\/s00359-010-0510-z","volume":"196","author":"G Portelli","year":"2010","unstructured":"Portelli, G., Ruffier, F., Franceschini, N.: Honeybees change their height to restore their optic flow. J. Comp. Physiol. A. 196(4), 307\u2013313 (2010)","journal-title":"J. Comp. Physiol. A."},{"issue":"4","key":"62_CR18","doi-asserted-by":"crossref","first-page":"379","DOI":"10.1017\/S0952523800004582","volume":"4","author":"S Zhang","year":"1990","unstructured":"Zhang, S., Wang, X., Liu, Z., Srinivasan, M.: Visual tracking of moving targets by freely flying honeybees. Vis. Neurosci. 4(4), 379\u201386 (1990)","journal-title":"Vis. Neurosci."},{"key":"62_CR19","first-page":"1404","volume-title":"Goal-directed navigation of an autonomous flying robot using biogically inspired cheap vision. In: Proceedings of the 32nd International Symposium on Robotics","author":"F Iida","year":"2001","unstructured":"Iida, F.: Goal-directed navigation of an autonomous flying robot using biogically inspired cheap vision. In: Proceedings of the 32nd International Symposium on Robotics, pp 1404\u20131409. ISR, Seoul (2001)"},{"key":"62_CR20","doi-asserted-by":"crossref","unstructured":"Green, W., Oh, P., Barrows, G.: Flying insect inspired vision for autonomous aerial robot maneuvers in near-earth environments. In: Proceeding of IEEE International Conference of Robotics and Automation (ICRA), pp. 2347\u20132352. New Orleans (2004)","DOI":"10.1109\/ROBOT.2004.1307412"},{"issue":"3","key":"62_CR21","doi-asserted-by":"crossref","first-page":"201","DOI":"10.1007\/s10514-009-9139-6","volume":"27","author":"A Beyeler","year":"2009","unstructured":"Beyeler, A., Zufferey, J.C., Floreano, D.: Vision-based control of near-obstacle flight. Auton. Robot. 27(3), 201\u2013219 (2009)","journal-title":"Auton. Robot."},{"issue":"2","key":"62_CR22","doi-asserted-by":"crossref","first-page":"107","DOI":"10.1260\/1756-8293.2.2.107","volume":"2","author":"JC Zufferey","year":"2010","unstructured":"Zufferey, J.C., Beyeler, A., Floreano, D.: Autonomous flight at low altitude using light sensors and little computational power. Int. J. Micro Air Veh. 2(2), 107\u2013117 (2010)","journal-title":"Int. J. Micro Air Veh."},{"key":"62_CR23","doi-asserted-by":"crossref","unstructured":"Netter, T., Franceschini, N.: A robotic aircraft that follows terrain using a neuromorphic eye. In: Proceedings of IEEE Conference on Intelligent Robots and Systems (IROS), Lausanne (2002)","DOI":"10.1109\/IRDS.2002.1041376"},{"key":"62_CR24","doi-asserted-by":"crossref","unstructured":"Ruffier, F., Viollet, S., Amic, S., Franceschini, N.: Bio-inspired optical flow circuits for the visual guidance of micro-air vehicles. In: Proceedings of IEEE Int. Symposium on Circuits and Systems (ISCAS), Vol. III, pp. 846\u2013849. Bangkok (2003)","DOI":"10.1109\/ISCAS.2003.1205152"},{"key":"62_CR25","doi-asserted-by":"crossref","unstructured":"Ruffier, F., Franceschini, N.: Aerial robot piloted in steep relief by optic flow sensors. In: International Conference on Intelligent Robots and Systems (IROS), pp. 1266\u20131273. Nice (2008)","DOI":"10.1109\/IROS.2008.4651089"},{"key":"62_CR26","doi-asserted-by":"crossref","unstructured":"Herisse, B., Russotto, F., Hamel, T., Mahony, R.: Hovering flight and vertical landing control of a VTOL unmanned aerial vehicle using optical flow. In: Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1404\u20131409. Nice (2008)","DOI":"10.1109\/IROS.2008.4650731"},{"issue":"3","key":"62_CR27","doi-asserted-by":"crossref","first-page":"165","DOI":"10.1007\/s10514-009-9135-x","volume":"27","author":"F Kendoul","year":"2009","unstructured":"Kendoul, F., Nonami, K., Fantoni, I., Lozano, R.: An adaptive vision-based autopilot for mini flying machines guidance, navigation and control. Auton. Robot. 27(3), 165\u2013188 (2009)","journal-title":"Auton. Robot."},{"key":"62_CR28","doi-asserted-by":"crossref","unstructured":"Viollet, S., Franceschini, N.: Biologically-inspired visual scanning sensor for stabilization and tracking. In: Proceeding IEEE\/RSJ International Conference on Intelligent Robots and System (IROS), pp. 204\u2013209. Kyongju (1999)","DOI":"10.1109\/IROS.1999.813005"},{"key":"62_CR29","doi-asserted-by":"crossref","first-page":"307","DOI":"10.1109\/TRO.2010.2042537","volume":"26","author":"L Kerhuel","year":"2010","unstructured":"Kerhuel, L., Viollet, S., Franceschini, N.: Steering by gazing: An efficient biomimetic control strategy for visually guided micro aerial vehicles. IEEE Trans. Robot. 26, 307\u2013319 (2010)","journal-title":"IEEE Trans. Robot."},{"key":"62_CR30","doi-asserted-by":"crossref","first-page":"284","DOI":"10.1002\/rob.20239","volume":"25","author":"M Garratt","year":"2008","unstructured":"Garratt, M., Chahl, J.: Vision-based terrain following for an unmanned rotorcraft. J. Field Robot. 25, 284\u2013301 (2008)","journal-title":"J. Field Robot."},{"key":"62_CR31","doi-asserted-by":"crossref","unstructured":"Garcia-Carrillo, L.R., Flores, G., Sanahuja, G., Lozano, R.: Quad-rotor switching control: An application for the task of path following. In: American Control Conference (ACC). Montreal (2012)","DOI":"10.1109\/ACC.2012.6315545"},{"issue":"3","key":"62_CR32","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1007\/s10514-009-9140-0","volume":"27","author":"J Conroy","year":"2009","unstructured":"Conroy, J., Gremillion, G., Ranganathan, B., Humbert, J.: Implementation of wide-field integration of optic flow for autonomous quadrotor navigation. Auton. Robot. 27(3), 189\u2013198 (2009)","journal-title":"Auton. Robot."},{"issue":"3\u20134","key":"62_CR33","doi-asserted-by":"crossref","first-page":"381","DOI":"10.1007\/s10514-010-9208-x","volume":"29","author":"B H\u00e9riss\u00e9","year":"2010","unstructured":"H\u00e9riss\u00e9, B., Hamel, T., Mahony, R., Russotto, F.X.: A terrain-following control approach for a vtol unmanned aerial vehicle using average optical flow. Auton. Robot. 29(3\u20134), 381\u2013399 (2010)","journal-title":"Auton. Robot."},{"key":"62_CR34","doi-asserted-by":"crossref","first-page":"34","DOI":"10.1109\/MRA.2006.1678137","volume":"13","author":"S Griffiths","year":"2006","unstructured":"Griffiths, S., Saunders, J., Curtis, A., Barber, B., McLain, T., Beard, R.: Maximizing miniature aerial vehicles. IEEE Robot. Autom. Mag. 13, 34\u201343 (2006)","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"5","key":"62_CR35","doi-asserted-by":"crossref","first-page":"664","DOI":"10.1177\/0278364911434236","volume":"31","author":"D Mellinger","year":"2012","unstructured":"Mellinger, D., Michael, N., Kumar, V.: Trajectory generation and control for precise aggressive maneuvers with quadrotors. Int. J. Robot. Res. 31(5), 664\u2013674 (2012)","journal-title":"Int. J. Robot. Res."},{"key":"62_CR36","doi-asserted-by":"crossref","unstructured":"Shen, S., Mulgaonkar, Y., Michael, N., Kumar, V.: Vision-based state estimation for autonomous rotorcraft mavs in complex environments. In: IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe, pp 1758\u20131764 (2013)","DOI":"10.1109\/ICRA.2013.6630808"},{"key":"62_CR37","doi-asserted-by":"crossref","unstructured":"Herisse, B., Hamel, T., Mahony, R., Russotto, F.X.: The landing problem of a vtol unmanned aerial vehicle on a moving platform using optical flow. In: Proceedings of the 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems. Taipei, p 2010","DOI":"10.1109\/IROS.2010.5652633"},{"issue":"1","key":"62_CR38","doi-asserted-by":"crossref","first-page":"77","DOI":"10.1109\/TRO.2011.2163435","volume":"28","author":"B Herisse","year":"2012","unstructured":"Herisse, B., Hamel, T., Mahony, R., Russotto, F.X.: Landing a vtol unmanned aerial vehicle on a moving platform using optical flow. IEEE Trans. Robot. 28(1), 77\u201389 (2012)","journal-title":"IEEE Trans. Robot."},{"key":"62_CR39","doi-asserted-by":"crossref","first-page":"221","DOI":"10.1007\/s10846-010-9473-0","volume":"61","author":"KE Wenzel","year":"2011","unstructured":"Wenzel, K.E., Masselli, A., Zell, A.: Automatic take off, tracking and landing of a miniature uav on a moving carrier vehicle. J. Intell. Robot. Syst 61, 221\u2013238 (2011)","journal-title":"J. Intell. Robot. Syst"},{"key":"62_CR40","doi-asserted-by":"crossref","first-page":"1033","DOI":"10.1017\/S0140525X01000127","volume":"24","author":"B Webb","year":"2001","unstructured":"Webb, B.: Can robots make good models of biological behavior? Behav. Brain Sci. 24, 1033\u20131050 (2001)","journal-title":"Behav. Brain Sci."},{"key":"62_CR41","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1098\/rstb.1951.0003","volume":"235","author":"JS Kennedy","year":"1951","unstructured":"Kennedy, J.S.: The migration of the desert locust (schistocerca gregaria forsk.)Phil. Trans. Royal Soc. B 235, 163\u2013290 (1951)","journal-title":"Phil. Trans. Royal Soc. B"},{"key":"62_CR42","doi-asserted-by":"crossref","first-page":"247","DOI":"10.1007\/BF00365219","volume":"56","author":"J Koenderink","year":"1987","unstructured":"Koenderink, J., van Doorn, A.: Facts on optic flow. Biol. Cybern. 56, 247\u2013254 (1987)","journal-title":"Biol. Cybern."},{"key":"62_CR43","first-page":"44","volume-title":"Proceedings of SPIE Conf. on Mobile Robots IV, Vol. 1195","author":"JM Pichon","year":"1989","unstructured":"Pichon, J.M., Blanes, C., Franceschini, N.: Visual guidance of a mobile robot equipped with a network of self-motion sensors. In: Wolfe, W.J., Chun, W.H. (eds.) Proceedings of SPIE Conf. on Mobile Robots IV, Vol. 1195, pp 44\u201353. SPIE, Bellingham (1989)"},{"key":"62_CR44","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1117\/12.498193","volume-title":"SPIE Vol. 5119, Bioengineered and Bioinspired Systems","author":"F Ruffier","year":"2003","unstructured":"Ruffier, F., Franceschini, N.: Octave, a bioinspired visuo-motor control system for the guidance of micro-air vehicles. In: Rodriguez-Vazquez, A., Abbott, D., Carmona, R. (eds.) SPIE Vol. 5119, Bioengineered and Bioinspired Systems, pp 1\u201312. SPIE, Bellingham (2003)"},{"key":"62_CR45","doi-asserted-by":"crossref","unstructured":"Ruffier, F., Franceschini, N.: Visually guided micro-aerial vehicle : automatic take off, terrain following, landing and wind reaction. In: Proceeding of IEEE International Conference on Robotics and Automation (ICRA). New Orleans, pp 2339\u20132346 (2004)","DOI":"10.1109\/ROBOT.2004.1307411"},{"key":"62_CR46","unstructured":"Ruffier, F.: Pilote Automatique Biomim\u00e9tique, Syst\u00e8me g\u00e9n\u00e9rique inspir\u00e9 du contr\u00f4le visuomoteur des insectes pour : le d\u00e9collage, le suivi de terrain, la r\u00e9action au vent et l\u2019 atterrissage automatiques d\u2019 un micro-a\u00e9ronef. PhD thesis, INP Grenoble, Ecole Doctorale EEATS, Sp\u00e9cialit\u00e9 : Signal, Image, Parole, T\u00e9l\u00e9communications (2004)"},{"key":"62_CR47","doi-asserted-by":"crossref","unstructured":"Ruffier, F., Benacchio, S., Expert, E., Ogam, E.: A tiny directional sound sensor inspired by crickets designed for micro-air vehicles. In: Proceeding of IEEE Sensors 2011 conference, Limerick, Ireland, pp. 970\u2013973 (2011)","DOI":"10.1109\/ICSENS.2011.6126978"},{"key":"62_CR48","doi-asserted-by":"crossref","first-page":"424","DOI":"10.1007\/BF00593644","volume":"56","author":"W Reichardt","year":"1969","unstructured":"Reichardt, W., Wenking, H.: Optical detection and fixation of objects by fixed flying flies (Musca domestica). Naturwissenschaften 56, 424\u2013425 (1969)","journal-title":"Naturwissenschaften"},{"key":"62_CR49","doi-asserted-by":"crossref","first-page":"1783","DOI":"10.1242\/jeb.066498","volume":"215","author":"F van Breugel","year":"2012","unstructured":"van Breugel, F., Dickinson, M.H.: The visual control of landing and obstacle avoidance in the fruit fly, drosophila melanogaster. J. Exp. Biol. 215, 1783\u20131798 (2012)","journal-title":"J. Exp. Biol."},{"key":"62_CR50","doi-asserted-by":"crossref","unstructured":"Valette, F., Ruffier, F., Viollet, S., Seidl, T.: Biomimetic optic flow sensing applied to a lunar landing scenario. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2010), pp. 2253\u20132260 (2010)","DOI":"10.1109\/ROBOT.2010.5509364"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-014-0062-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-014-0062-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-014-0062-5","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,12]],"date-time":"2019-08-12T23:39:12Z","timestamp":1565653152000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-014-0062-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,7,24]]},"references-count":50,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2015,8]]}},"alternative-id":["62"],"URL":"https:\/\/doi.org\/10.1007\/s10846-014-0062-5","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,7,24]]}}}