{"id":"https://openalex.org/W4281966511","doi":"https://doi.org/10.48550/arxiv.2206.03606","title":"Model Predictive Loitering and Trajectory Tracking of Suspended Payloads in Cable-Driven Balloons Using UGVs","display_name":"Model Predictive Loitering and Trajectory Tracking of Suspended Payloads in Cable-Driven Balloons Using UGVs","publication_year":2022,"publication_date":"2022-06-07","ids":{"openalex":"https://openalex.org/W4281966511","doi":"https://doi.org/10.48550/arxiv.2206.03606"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2206.03606","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2206.03606","pdf_url":"https://arxiv.org/pdf/2206.03606","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"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2206.03606","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015956167","display_name":"Julius Wanner","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wanner, Julius","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073800169","display_name":"Eric N. Sihite","orcid":"https://orcid.org/0000-0002-8653-8842","observed_orcids":["https://orcid.org/0000-0002-8653-8842"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sihite, Eric","raw_affiliation_strings":["The"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ramezani, Alireza","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ramezani, Alireza","raw_affiliation_strings":["researcher at the Graduate Aerospace Lab- oratories of the California Institute of Technology (Caltech GALCIT) , Pasadena , CA -91125 , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"researcher at the Graduate Aerospace Lab- oratories of the California Institute of Technology (Caltech GALCIT) , Pasadena , CA -91125 , USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001942781","display_name":"Morteza Gharib","orcid":"https://orcid.org/0000-0003-0754-4193","observed_orcids":["https://orcid.org/0000-0003-0754-4193","https://orcid.org/0000-0001-9611-1693"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gharib, Morteza","raw_affiliation_strings":["The"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9404000043869019,"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"}},"topics":[{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9404000043869019,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.042500000447034836,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11870","display_name":"Structural Analysis and Optimization","score":0.005200000014156103,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/unmanned-ground-vehicles","display_name":"unmanned ground vehicles","score":0.7789999842643738},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"model predictive control","score":0.796999990940094},{"id":"https://openalex.org/keywords/loitering","display_name":"loitering","score":0.890999972820282},{"id":"https://openalex.org/keywords/trajectory-tracking","display_name":"trajectory tracking","score":0.9860000014305115},{"id":"https://openalex.org/keywords/suspended-payload","display_name":"suspended payload","score":0.6850000023841858},{"id":"https://openalex.org/keywords/underactuated-systems","display_name":"underactuated systems","score":0.6349999904632568}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7899811863899231},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.63413405418396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.573340654373169},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5275506377220154},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.5096356868743896},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5016019344329834},{"id":"https://openalex.org/C139059822","wikidata":"https://www.wikidata.org/wiki/Q183951","display_name":"Balloon","level":2,"score":0.4918997287750244},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4555346965789795},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4047870635986328},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39556801319122314},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3735079765319824},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35182610154151917},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2819482088088989},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2670309543609619},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22246068716049194},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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/C164705383","wikidata":"https://www.wikidata.org/wiki/Q10379","display_name":"Cardiology","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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2206.03606","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2206.03606","pdf_url":"https://arxiv.org/pdf/2206.03606","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":"doi:10.48550/arxiv.2206.03606","doi":"https://doi.org/10.48550/arxiv.2206.03606","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2206.03606","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:2206.03606","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2206.03606","pdf_url":"https://arxiv.org/pdf/2206.03606","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":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4383108434","https://openalex.org/W4401415696","https://openalex.org/W1436234145","https://openalex.org/W2073053355","https://openalex.org/W2160111443","https://openalex.org/W4415531095","https://openalex.org/W4385074065","https://openalex.org/W3160977375","https://openalex.org/W2906826901","https://openalex.org/W3212994322"],"abstract_inverted_index":{"The":[0],"feasibility":[1],"of":[2,27,82,89,115],"performing":[3],"airborne":[4],"and":[5,9,19,44,68,71,87,99],"ground":[6,118],"manipulation,":[7],"perception,":[8],"reconnaissance":[10,86],"using":[11],"wheeled":[12],"rovers,":[13],"unmanned":[14,117],"aerial":[15],"vehicles,":[16],"CubeSats,":[17],"SmallSats":[18],"more":[20],"have":[21],"been":[22],"evaluated":[23],"before.":[24],"Among":[25],"all":[26],"these":[28],"solutions,":[29],"balloon-based":[30,61],"systems":[31],"possess":[32],"merits":[33],"that":[34,77],"make":[35],"them":[36],"extremely":[37],"attractive,":[38],"e.g.,":[39],"a":[40,73,126],"simple":[41],"operation":[42,46],"mechanism":[43],"endured":[45],"time.":[47],"However,":[48],"there":[49],"are":[50],"many":[51],"hurdles":[52],"to":[53,55,65,121,129],"overcome":[54],"achieve":[56],"robust":[57],"loitering":[58],"performance":[59],"in":[60,84,125],"applications.":[62],"We":[63,110],"attempt":[64],"identify":[66],"design":[67,103],"control":[69],"challenges,":[70],"propose":[72,111],"novel":[74],"robotic":[75],"platform":[76],"allows":[78],"for":[79,105],"the":[80,85,112],"application":[81],"balloons":[83],"perception":[88],"Mars":[90],"craters.":[91],"This":[92],"work":[93],"briefly":[94],"covers":[95],"our":[96],"suggested":[97],"actuation":[98],"Model":[100],"Predictive":[101],"Control":[102],"framework":[104],"steering":[106],"such":[107],"balloon":[108,128],"systems.":[109],"coordinated":[113],"servoing":[114],"multiple":[116],"vehicles":[119],"(UGVs)":[120],"regulate":[122],"tension":[123],"forces":[124],"cable-driven":[127],"which":[130],"an":[131],"underactuated":[132],"hanging":[133],"payload":[134],"is":[135],"attached.":[136]},"counts_by_year":[],"updated_date":"2026-10-29T09:56:32.521200","created_date":"2022-06-13T00:00:00"}