# 3D environment mapping and self-position estimation by a small flying robot mounted with a movable ultrasonic range sensor

> Research article (Journal of Electrical Systems and Information Technology, 2017) · cited 26× · AI/ML

**Wikidata**: [openalex:W2582881044](https://www.wikidata.org/wiki/openalex:W2582881044)  
**Source**: https://4ort.xyz/entity/3d-environment-mapping-and-self-position-estimation-by-a-small-flying-robot-mounted-with-a-movable-ultrasonic-range-sens