{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:56:23Z","timestamp":1777715783306,"version":"3.51.4"},"reference-count":32,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2008,5,1]],"date-time":"2008-05-01T00:00:00Z","timestamp":1209600000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2008,5]]},"abstract":"<jats:p>\n                    Safe autonomous flight is essential for widespread acceptance of aircraft that must fly close to the ground. We have developed a method of collision avoidance that can be used in three dimensions in much the same way as autonomous ground vehicles that navigate over unexplored terrain. Safe navigation is accomplished by a combination of online environmental sensing, path planning and collision avoidance. Here we outline our methodology and report results with an autonomous helicopter that operates at low elevations in uncharted environments, some of which are densely populated with obstacles such as buildings, trees and wires. We have recently completed over 700 successful runs in which the helicopter traveled between coarsely specified waypoints separated by hundreds of meters, at speeds of up to 10 m s\n                    <jats:sup>\u20141<\/jats:sup>\n                    at elevations of 5\u201411 m above ground level. The helicopter safely avoids large objects such as buildings and trees but also wires as thin as 6 mm. We believe this represents the first time an air vehicle has traveled this fast so close to obstacles. The collision avoidance method learns to avoid obstacles by observing the performance of a human operator.\n                  <\/jats:p>","DOI":"10.1177\/0278364908090949","type":"journal-article","created":{"date-parts":[[2008,4,25]],"date-time":"2008-04-25T10:19:44Z","timestamp":1209118784000},"page":"549-574","source":"Crossref","is-referenced-by-count":149,"title":["Flying Fast and Low Among Obstacles: Methodology and Experiments"],"prefix":"10.1177","volume":"27","author":[{"given":"Sebastian","family":"Scherer","sequence":"first","affiliation":[{"name":"Carnegie Mellon University - The Robotics Institute 5000 Forbes Ave Pittsburgh, PA 15213 USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sanjiv","family":"Singh","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University - The Robotics Institute 5000 Forbes Ave Pittsburgh, PA 15213 USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lyle","family":"Chamberlain","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University - The Robotics Institute 5000 Forbes Ave Pittsburgh, PA 15213 USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mike","family":"Elgersma","sequence":"additional","affiliation":[{"name":"Honeywell Labs, Camden,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2008,5,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1147\/sj.41.0025"},{"key":"atypb2","volume-title":"Proceedings of IEEE International Conference on Robotics & Automation","author":"Byrne, J."},{"key":"atypb3","volume-title":"Proceedings of AIAA Conference on Guidance, Navigation, and Control","author":"Call, B."},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620100704"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1037\/0096-1523.29.2.343"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1023\/A:1023701300169"},{"key":"atypb7","volume-title":"Scene Modeling from Motion-Free Radar Sensing","author":"Foessel, A.","year":"2002"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.852260"},{"key":"atypb9","volume-title":"Proceedings of IEEE International Conference on Advanced Robotics","author":"Green, W.E."},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20171"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511811685"},{"key":"atypb12","first-page":"558","volume":"1","author":"Hrabar, S.","year":"2003","journal-title":"Proceedings of IEEE International Conference on Robotics & Automation"},{"key":"atypb13","volume-title":"Proceedings of IEEE International Conference on Intelligent Robots and Systems","author":"Hrabar, S."},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2005.11.004"},{"issue":"4","key":"atypb15","first-page":"3947","volume":"11","author":"Jackson","year":"2005","journal-title":"European Journal of Control"},{"key":"atypb16","volume-title":"Proceedings of 43rd IEEE Conference on Decision and Control","author":"Kanade, T."},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500106"},{"key":"atypb18","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots & Systems","author":"Kitamura, Y."},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1023\/A:1007963408438"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1243\/0954405021519979"},{"key":"atypb21","volume-title":"Robot evidence grids","author":"Martin, M.C.","year":"1996"},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1117\/12.571554"},{"key":"atypb23","volume-title":"Results in combined route traversal and collision avoidance","author":"Roth, S.A.","year":"2005"},{"key":"atypb24","volume-title":"Proceedings of AIAA GN&C Conference","author":"Shim, D."},{"key":"atypb25","volume-title":"IEEE Workshop on the Applications of Computer Vision","author":"Strelow, D."},{"key":"atypb26","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20128"},{"key":"atypb27","volume-title":"Multigrid","author":"U. 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