{"id":"https://openalex.org/W3089759673","doi":"https://doi.org/10.23919/acc50511.2021.9483206","title":"Co-design of Control and Planning for Multi-rotor UAVs with Signal Temporal Logic Specifications","display_name":"Co-design of Control and Planning for Multi-rotor UAVs with Signal Temporal Logic Specifications","publication_year":2021,"publication_date":"2021-05-25","ids":{"openalex":"https://openalex.org/W3089759673","doi":"https://doi.org/10.23919/acc50511.2021.9483206","mag":"3089759673"},"language":"en","primary_location":{"id":"doi:10.23919/acc50511.2021.9483206","doi":"https://doi.org/10.23919/acc50511.2021.9483206","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9483206","pdf_url":null,"source":{"id":"https://openalex.org/S4210168941","display_name":"Proceedings of the ... American Control Conference/Proceedings of the American Control Conference","issn_l":"0743-1619","issn":["0743-1619","2378-5861"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2009.14363","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018879381","display_name":"Yash Vardhan Pant","orcid":"https://orcid.org/0000-0002-2292-6846","observed_orcids":["https://orcid.org/0000-0002-2292-6846"]},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yash Vardhan Pant","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","University of California\u2013Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California\u2013Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042593365","display_name":"He Yin","orcid":"https://orcid.org/0000-0003-3338-148X","observed_orcids":["https://orcid.org/0000-0003-3338-148X","https://orcid.org/0000-0002-4924-3543"]},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"He Yin","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","University of California\u2013Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California\u2013Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025743742","display_name":"Murat Arcak","orcid":"https://orcid.org/0000-0001-9060-4032","observed_orcids":["https://orcid.org/0000-0001-9060-4032"]},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Murat Arcak","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","University of California\u2013Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California\u2013Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064230639","display_name":"Sanjit Arunkumar Seshia","orcid":"https://orcid.org/0000-0001-6190-8707","observed_orcids":["https://orcid.org/0000-0001-6190-8707"]},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sanjit A. Seshia","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","University of California\u2013Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California\u2013Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":3.3759,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.92766605,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4209","last_page":"4216"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.6478999853134155,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.6478999853134155,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.19820000231266022,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.058400001376867294,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/multi-rotor-uav","display_name":"multirotor drones","score":0.9449999928474426},{"id":"https://openalex.org/keywords/signal-temporal-logic","display_name":"signal temporal logic","score":0.8050000071525574},{"id":"https://openalex.org/keywords/urban-air-mobility","display_name":"urban air mobility","score":0.9440000057220459},{"id":"https://openalex.org/keywords/trajectory-generation","display_name":"trajectory generation","score":0.7509999871253967},{"id":"https://openalex.org/keywords/dynamic-feasibility","display_name":"dynamic feasibility","score":0.7429999709129333},{"id":"https://openalex.org/keywords/tracking-error-bounds","display_name":"tracking error bounds","score":0.7540000081062317},{"id":"https://openalex.org/keywords/kinematic-constraints","display_name":"kinematic constraints","score":0.9279999732971191},{"id":"https://openalex.org/keywords/behavioral-specification","display_name":"behavioral specification","score":0.5360000133514404}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7020124197006226},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.671645998954773},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6549261808395386},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5393476486206055},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5299856662750244},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5230744481086731},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5048819184303284},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.4823895990848541},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.47689011693000793},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4432271420955658},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.41415566205978394},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40784600377082825},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3839428722858429},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17597073316574097},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1392882764339447},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09133833646774292},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.23919/acc50511.2021.9483206","doi":"https://doi.org/10.23919/acc50511.2021.9483206","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9483206","pdf_url":null,"source":{"id":"https://openalex.org/S4210168941","display_name":"Proceedings of the ... American Control Conference/Proceedings of the American Control Conference","issn_l":"0743-1619","issn":["0743-1619","2378-5861"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2009.14363","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2009.14363","pdf_url":"https://arxiv.org/pdf/2009.14363","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3089759673","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2009.14363.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:escholarship.org:ark:/13030/qt7531983n","doi":null,"is_oa":false,"landing_page_url":"https://escholarship.org/uc/item/7531983n","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"doi:10.48550/arxiv.2009.14363","doi":"https://doi.org/10.48550/arxiv.2009.14363","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2009.14363","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2009.14363","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2009.14363","pdf_url":"https://arxiv.org/pdf/2009.14363","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5142999887466431}],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3089759673.pdf","grobid_xml":"https://content.openalex.org/works/W3089759673.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1547304883","https://openalex.org/W1935692274","https://openalex.org/W1973013779","https://openalex.org/W1977985274","https://openalex.org/W2006625750","https://openalex.org/W2049399166","https://openalex.org/W2092884371","https://openalex.org/W2133404041","https://openalex.org/W2175161357","https://openalex.org/W2181845023","https://openalex.org/W2294678926","https://openalex.org/W2311756909","https://openalex.org/W2604410735","https://openalex.org/W2621540998","https://openalex.org/W2792781634","https://openalex.org/W2794645714","https://openalex.org/W2841721725","https://openalex.org/W2886821123","https://openalex.org/W2891736816","https://openalex.org/W2892315216","https://openalex.org/W2968046468","https://openalex.org/W2990240808","https://openalex.org/W3012288983","https://openalex.org/W3045676776"],"related_works":["https://openalex.org/W7080352179","https://openalex.org/W4312329801","https://openalex.org/W2794906167","https://openalex.org/W2792781634","https://openalex.org/W2929187829","https://openalex.org/W4200609699","https://openalex.org/W2922682149","https://openalex.org/W4415047865","https://openalex.org/W7163033675","https://openalex.org/W4385451853"],"abstract_inverted_index":{"Urban":[0],"Air":[1],"Mobility":[2],"(UAM),":[3],"or":[4,78],"the":[5,27,94,128,138,142,146,156,200],"scenario":[6],"where":[7],"multiple":[8,106],"manned":[9],"and":[10,39,57,96,117,145,194],"Unmanned":[11],"Aerial":[12],"Vehicles":[13],"(UAVs)":[14],"carry":[15],"out":[16],"various":[17],"tasks":[18],"over":[19,105],"urban":[20],"airspaces,":[21],"is":[22,30,64,109,135,150,215],"a":[23,51,100,124,190],"transportation":[24],"concept":[25],"of":[26,59,141,212,219],"future":[28],"that":[29,72,81,99,113,127,176,182,188,202],"gaining":[31],"prominence.":[32],"UAM":[33],"missions":[34],"with":[35,61,111,123,207],"complex":[36,84],"spatial,":[37],"temporal":[38],"reactive":[40],"requirements":[41],"can":[42,120,204],"be":[43,205],"succinctly":[44],"represented":[45],"using":[46],"Signal":[47],"Temporal":[48],"Logic":[49],"(STL),":[50],"behavioral":[52],"specification":[53,103],"language.":[54],"However,":[55],"planning":[56,70],"control":[58,79,97],"systems":[60],"STL":[62,85,102,192],"specifications":[63],"computationally":[65],"intensive,":[66],"usually":[67],"resulting":[68],"in":[69,171,199],"approaches":[71,80],"do":[73],"not":[74],"guarantee":[75],"dynamical":[76],"feasibility,":[77],"cannot":[82],"handle":[83],"specifications.":[86],"Here,":[87],"we":[88],"present":[89],"an":[90,165],"approach":[91,214],"to":[92,173],"co-design":[93,184],"planner":[95,129],"such":[98,178],"given":[101,191],"(possibly":[104],"UAV":[107,221],"s)":[108],"satisfied":[110],"trajectories":[112,157,175,187],"are":[114,195],"dynamically":[115,197],"feasible":[116,198],"our":[118],"controller":[119,134,154],"track":[121],"them":[122],"bounded":[125,208],"tracking-error":[126],"accounts":[130],"for.":[131],"The":[132,210],"tracking":[133,147],"formulated":[136],"for":[137,152,186],"non-linear":[139],"dynamics":[140],"individual":[143],"UAVs,":[144],"error":[148],"bound":[149],"computed":[151],"this":[153,183,213],"when":[155],"satisfy":[158,177,189],"some":[159],"kinematic":[160],"constraints.":[161,179],"We":[162,180],"also":[163,196],"augment":[164],"existing":[166],"multi-UAV":[167],"STL-based":[168],"trajectory":[169],"generator":[170],"order":[172],"generate":[174],"show":[181],"allows":[185],"specification,":[193],"sense":[201],"they":[203],"tracked":[206],"error.":[209],"applicability":[211],"demonstrated":[216],"through":[217],"simulations":[218],"multi-":[220],"missions.":[222]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2020-10-08T00:00:00"}
