{"id":"https://openalex.org/W6996893822","doi":null,"title":"Time-Optimal Control for Tiny Quadcopters","display_name":"Time-Optimal Control for Tiny Quadcopters","publication_year":2021,"publication_date":"2021-03-23","ids":{"openalex":"https://openalex.org/W6996893822"},"language":"en","primary_location":{"id":"pmh:oai:tudelft.nl:uuid:665779ce-5080-43da-8519-4cd17e2f105d","doi":null,"is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:665779ce-5080-43da-8519-4cd17e2f105d","pdf_url":"http://resolver.tudelft.nl/uuid:665779ce-5080-43da-8519-4cd17e2f105d","source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"master thesis"},"volume":null,"type":"dissertation","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://resolver.tudelft.nl/uuid:665779ce-5080-43da-8519-4cd17e2f105d","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062662946","display_name":"Jelle Westenberger","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Westenberger, Jelle (author)","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5062662946"],"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":true,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9125999808311462,"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"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9125999808311462,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.03099999949336052,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.02810000069439411,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/time-optimal-control","display_name":"time-optimal control","score":0.9829999804496765},{"id":"https://openalex.org/keywords/quadrotor","display_name":"quadrotor","score":0.8130000233650208},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"model predictive control","score":0.9760000109672546},{"id":"https://openalex.org/keywords/bang-bang-control","display_name":"bang-bang control","score":0.9679999947547913},{"id":"https://openalex.org/keywords/constrained-optimal-control","display_name":"constrained optimal control","score":0.7910000085830688},{"id":"https://openalex.org/keywords/bisection-method","display_name":"bisection method","score":0.6610000133514404},{"id":"https://openalex.org/keywords/onboard-processing","display_name":"on-board processing","score":0.8230000138282776},{"id":"https://openalex.org/keywords/pid-controller-comparison","display_name":"PID controller comparison","score":0.8119999766349792},{"id":"https://openalex.org/keywords/indoor-flight","display_name":"indoor flight","score":0.5299999713897705}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.9828000068664551},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.7307999730110168},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6843000054359436},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6489999890327454},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6238999962806702},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6026999950408936},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5447999835014343},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.40860000252723694},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.3953000009059906},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3686000108718872},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3675999939441681},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3619999885559082},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34940001368522644},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3285999894142151},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.30979999899864197},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.304500013589859},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2890999913215637},{"id":"https://openalex.org/C157544257","wikidata":"https://www.wikidata.org/wiki/Q866300","display_name":"Bisection method","level":2,"score":0.2879999876022339},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.28049999475479126},{"id":"https://openalex.org/C139502532","wikidata":"https://www.wikidata.org/wiki/Q1122090","display_name":"Computational intelligence","level":2,"score":0.2565000057220459},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.25600001215934753},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2549000084400177},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"pmh:oai:tudelft.nl:uuid:665779ce-5080-43da-8519-4cd17e2f105d","doi":null,"is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:665779ce-5080-43da-8519-4cd17e2f105d","pdf_url":"http://resolver.tudelft.nl/uuid:665779ce-5080-43da-8519-4cd17e2f105d","source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"master thesis"}],"best_oa_location":{"id":"pmh:oai:tudelft.nl:uuid:665779ce-5080-43da-8519-4cd17e2f105d","doi":null,"is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:665779ce-5080-43da-8519-4cd17e2f105d","pdf_url":"http://resolver.tudelft.nl/uuid:665779ce-5080-43da-8519-4cd17e2f105d","source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"master thesis"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W6996893822.pdf","grobid_xml":"https://content.openalex.org/works/W6996893822.grobid-xml"},"referenced_works_count":69,"referenced_works":["https://openalex.org/W56495734","https://openalex.org/W68008431","https://openalex.org/W1562603105","https://openalex.org/W1601081659","https://openalex.org/W1849277567","https://openalex.org/W1966126529","https://openalex.org/W1980289512","https://openalex.org/W1982019931","https://openalex.org/W1995376165","https://openalex.org/W2000359213","https://openalex.org/W2008277209","https://openalex.org/W2009659616","https://openalex.org/W2011891945","https://openalex.org/W2020934227","https://openalex.org/W2026891225","https://openalex.org/W2028394888","https://openalex.org/W2032374758","https://openalex.org/W2085261163","https://openalex.org/W2093187605","https://openalex.org/W2093831009","https://openalex.org/W2098711104","https://openalex.org/W2101320675","https://openalex.org/W2105080564","https://openalex.org/W2112796928","https://openalex.org/W2117228865","https://openalex.org/W2141584146","https://openalex.org/W2142424817","https://openalex.org/W2144831580","https://openalex.org/W2155056756","https://openalex.org/W2161294942","https://openalex.org/W2162218551","https://openalex.org/W2162991084","https://openalex.org/W2166132830","https://openalex.org/W2193145675","https://openalex.org/W2216132641","https://openalex.org/W2221321873","https://openalex.org/W2303961898","https://openalex.org/W2469301588","https://openalex.org/W2482392012","https://openalex.org/W2518600491","https://openalex.org/W2534672888","https://openalex.org/W2557430988","https://openalex.org/W2559085405","https://openalex.org/W2564095182","https://openalex.org/W2599032451","https://openalex.org/W2738074993","https://openalex.org/W2744855064","https://openalex.org/W2747013247","https://openalex.org/W2769498435","https://openalex.org/W2788239209","https://openalex.org/W2794268423","https://openalex.org/W2797486955","https://openalex.org/W2891010135","https://openalex.org/W2891701184","https://openalex.org/W2897097805","https://openalex.org/W2898819722","https://openalex.org/W2909708126","https://openalex.org/W2909966514","https://openalex.org/W2911956173","https://openalex.org/W2919115771","https://openalex.org/W2982095652","https://openalex.org/W2996333367","https://openalex.org/W3003344567","https://openalex.org/W3023637921","https://openalex.org/W3032221564","https://openalex.org/W3035586429","https://openalex.org/W3048752528","https://openalex.org/W3104978629","https://openalex.org/W4242233297"],"related_works":["https://openalex.org/W7042266199","https://openalex.org/W4293254485","https://openalex.org/W4306670913","https://openalex.org/W3196376370","https://openalex.org/W3183328018","https://openalex.org/W4377833961","https://openalex.org/W4411799996","https://openalex.org/W6966786410","https://openalex.org/W2105080564","https://openalex.org/W7033458568"],"abstract_inverted_index":{"Time-optimal":[0],"model-predictive":[1],"control":[2,68],"is":[3,60,185],"essential":[4],"in":[5,82,92,125,195],"achieving":[6],"fast":[7],"and":[8,51,121,135,156,184],"adaptive":[9],"quadcopter":[10,155,183],"flight.":[11],"Due":[12],"to":[13,139,160,165],"the":[14,63,83,129,132,149,162,174,204],"limited":[15],"computational":[16,41],"performance":[17,164],"of":[18,101,131,142,187,203],"onboard":[19,53,152,179],"hardware,":[20],"aggressive":[21],"flight":[22,50,197],"approaches":[23,48],"have":[24,71,147,171],"relied":[25],"on":[26,62],"off-line":[27],"trajectory":[28],"optimization":[29],"processes":[30],"or":[31],"non":[32],"time-optimal":[33,49,123],"methods.":[34],"In":[35],"this":[36],"work":[37],"we":[38,146],"propose":[39,136],"a":[40,54,72,79,89,102,117,137,153,166,180],"efficient":[42],"model":[43],"predictive":[44],"controller":[45,59,112,120,151,175],"(MPC)":[46],"that":[47,65,173],"runs":[52,176],"consumer":[55,154],"quadcopter.":[56],"The":[57,111],"proposed":[58,150],"built":[61],"principle":[64],"constrained":[66],"optimal":[67],"problems":[69],"(OCPs)":[70],"so-called":[73],"'bang-bang'":[74],"solution.":[75],"Our":[76],"solution":[77],"plans":[78],"bang-bang":[80],"maneuver":[81],"critical":[84],"direction":[85],"while":[86,198],"aiming":[87],"for":[88],"'minimum-effort'":[90],"approach":[91],"non-critical":[93],"direction.":[94],"Control":[95],"parameters":[96],"are":[97],"computed":[98],"by":[99],"means":[100],"bisection":[103],"scheme":[104],"using":[105],"an":[106],"analytical":[107],"path":[108],"prediction":[109],"model.":[110],"has":[113],"been":[114],"compared":[115],"with":[116],"classical":[118],"PID":[119,167,193],"theoretical":[122],"trajectories":[124],"simulations.":[126],"We":[127],"identify":[128],"consequences":[130],"OCP":[133],"simplifications":[134],"method":[138],"mitigate":[140],"one":[141],"these":[143],"effects.":[144],"Finally,":[145],"implemented":[148],"performed":[157],"indoor":[158],"flights":[159],"compare":[161],"controller's":[163],"controller.":[168],"Flight":[169],"experiments":[170],"shown":[172],"at":[177],"512hz":[178],"Parrot":[181],"Bebop":[182],"capable":[186],"fast,":[188],"saturated":[189],"flight,":[190],"outperforming":[191],"traditional":[192],"controllers":[194],"waypoint-to-waypoint":[196],"requiring":[199],"only":[200],"minimal":[201],"knowledge":[202],"quadcopter's":[205],"dynamics.":[206]},"counts_by_year":[],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2025-10-10T00:00:00"}
