{"id":"https://openalex.org/W7213596143","doi":"https://doi.org/10.48550/arxiv.2609.19312","title":"Equivalent-Agent Guidance for Cooperative UAV Payload Transportation","display_name":"Equivalent-Agent Guidance for Cooperative UAV Payload Transportation","publication_year":2026,"publication_date":"2026-09-16","ids":{"openalex":"https://openalex.org/W7213596143","doi":"https://doi.org/10.48550/arxiv.2609.19312"},"language":null,"primary_location":{"id":"pmh:oai:arXiv.org:2609.19312","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.19312","pdf_url":"https://arxiv.org/pdf/2609.19312","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/2609.19312","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5152146729","display_name":"Saurabh Kumar","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kumar, Saurabh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010457530","display_name":"Shashi Ranjan Kumar","orcid":"https://orcid.org/0000-0001-6446-7281","observed_orcids":["https://orcid.org/0000-0001-6446-7281"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kumar, Shashi Ranjan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5022385451","display_name":"Abhinav Sinha","orcid":"https://orcid.org/0000-0001-6419-2353","observed_orcids":["https://orcid.org/0000-0001-6419-2353"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sinha, Abhinav","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"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/T12158","display_name":"Guidance and Control Systems","score":0.5713000297546387,"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/T12158","display_name":"Guidance and Control Systems","score":0.5713000297546387,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.22550000250339508,"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":0.07289999723434448,"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/control-allocation","display_name":"control allocation","score":0.996999979019165},{"id":"https://openalex.org/keywords/processor-in-the-loop","display_name":"processor-in-the-loop","score":0.8840000033378601}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7735000252723694},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6220999956130981},{"id":"https://openalex.org/C2777047555","wikidata":"https://www.wikidata.org/wiki/Q17085041","display_name":"Terminal guidance","level":3,"score":0.5728999972343445},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5659000277519226},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.553600013256073},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.5440000295639038},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5141000151634216},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5042999982833862},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49399998784065247},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.4803999960422516},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.44699999690055847},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.4334000051021576},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.4250999987125397},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.35839998722076416},{"id":"https://openalex.org/C201004817","wikidata":"https://www.wikidata.org/wiki/Q1707071","display_name":"Guidance system","level":2,"score":0.3336000144481659},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.311599999666214},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30889999866485596},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.30640000104904175},{"id":"https://openalex.org/C2778464233","wikidata":"https://www.wikidata.org/wiki/Q1649097","display_name":"Proportional navigation","level":3,"score":0.29739999771118164},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.29679998755455017},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2964000105857849},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.29440000653266907},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.28839999437332153},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2825999855995178},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27390000224113464},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2685999870300293},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26570001244544983},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25619998574256897},{"id":"https://openalex.org/C56498450","wikidata":"https://www.wikidata.org/wiki/Q1376323","display_name":"Relative velocity","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2609.19312","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.19312","pdf_url":"https://arxiv.org/pdf/2609.19312","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.2609.19312","doi":"https://doi.org/10.48550/arxiv.2609.19312","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2609.19312","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2609.19312","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2609.19312","pdf_url":"https://arxiv.org/pdf/2609.19312","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":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"develops":[2],"a":[3,10,86,93,109,116,166,200,214],"guidance":[4,121,206],"framework":[5,221],"for":[6,72,85],"cooperative":[7],"transportation":[8,45],"of":[9,37,52,171],"rigid":[11],"payload":[12,73],"by":[13],"two":[14],"uncrewed":[15],"aerial":[16],"vehicles":[17],"(UAVs)":[18],"to":[19,32,47,60,92,125,143,149,160],"stationary":[20,87],"and":[21,55,103,107,130,137,193,226],"maneuvering":[22,94],"landing":[23,62,111,163],"platforms.":[24],"A":[25,64,133],"virtual":[26,145],"equivalent-agent":[27],"representation":[28],"is":[29,123,141],"first":[30],"introduced":[31],"describe":[33],"the":[34,38,44,61,68,150,161,205,209,219],"translational":[35],"motion":[36],"rigidly":[39],"coupled":[40],"UAV-payload":[41],"system,":[42],"allowing":[43],"problem":[46],"be":[48,83],"formulated":[49],"in":[50],"terms":[51],"relative":[53,98,128],"range":[54,129],"line-of-sight":[56,131],"dynamics":[57],"with":[58,96],"respect":[59],"platform.":[63],"geometric":[65],"analysis":[66,216],"establishes":[67],"terminal":[69,101,190],"feasibility":[70],"conditions":[71],"delivery.":[74],"In":[75],"particular,":[76],"an":[77],"arbitrary":[78],"prescribed":[79],"approach":[80,191],"angle":[81,105],"can":[82],"achieved":[84],"platform,":[88],"whereas":[89],"successful":[90],"delivery":[91,187],"platform":[95,194],"zero":[97,110],"velocity":[99,102],"requires":[100],"heading":[104],"synchronization":[106],"consequently":[108],"angle.":[112],"Leveraging":[113],"this":[114],"framework,":[115],"robust":[117],"fixed-time":[118],"sliding":[119,228],"mode":[120],"strategy":[122,157],"developed":[124],"regulate":[126],"both":[127],"dynamics.":[132],"separate":[134],"link-orientation":[135],"controller":[136],"control":[138,153,235],"allocation":[139],"scheme":[140],"presented":[142],"map":[144],"equivalent":[146],"agent":[147],"commands":[148],"individual":[151],"UAV's":[152],"inputs.":[154],"The":[155],"proposed":[156,220],"guarantees":[158],"convergence":[159,230],"desired":[162],"configuration":[164],"within":[165],"uniformly":[167],"bounded":[168],"time,":[169],"independent":[170],"initial":[172],"engagement":[173],"geometries,":[174],"while":[175,196,231],"explicitly":[176],"accommodating":[177],"uncertainties":[178],"arising":[179],"from":[180,237],"target":[181],"maneuvers.":[182],"Numerical":[183],"simulations":[184],"demonstrate":[185],"accurate":[186],"under":[188],"different":[189],"angles":[192],"maneuvers,":[195],"processor-in-the-loop":[197],"implementation":[198],"on":[199],"Raspberry":[201],"Pi":[202],"demonstrates":[203],"that":[204,218],"algorithm":[207],"satisfies":[208],"real-time":[210],"computational":[211],"requirements.":[212],"Nonetheless,":[213],"comparative":[215],"shows":[217],"achieves":[222],"better":[223],"tracking":[224],"accuracy":[225],"faster":[227],"surface":[229],"requiring":[232],"significantly":[233],"less":[234],"energy":[236],"each":[238],"UAV.":[239]},"counts_by_year":[],"updated_date":"2026-09-24T07:57:37.273135","created_date":"2026-09-19T00:00:00"}