{"id":"https://openalex.org/W3048125340","doi":"https://doi.org/10.1109/aim43001.2020.9158952","title":"A Central Pattern Generator-Based Control Strategy of a Nature-Inspired Unmanned Aerial Vehicle","display_name":"A Central Pattern Generator-Based Control Strategy of a Nature-Inspired Unmanned Aerial Vehicle","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3048125340","doi":"https://doi.org/10.1109/aim43001.2020.9158952","mag":"3048125340"},"language":"en","primary_location":{"id":"doi:10.1109/aim43001.2020.9158952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088942957","display_name":"Danial Sufiyan","orcid":"https://orcid.org/0000-0003-1549-5029"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Danial Sufiyan","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), 8 Somapah Road, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), 8 Somapah Road, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071740698","display_name":"Ying Hong Pheh","orcid":"https://orcid.org/0000-0001-5261-3536"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ying Hong Pheh","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), 8 Somapah Road, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), 8 Somapah Road, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079350778","display_name":"Luke Thura Soe Win","orcid":null},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Luke Thura Soe Win","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), 8 Somapah Road, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), 8 Somapah Road, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036415000","display_name":"Shane Kyi Hla Win","orcid":"https://orcid.org/0000-0002-5859-6199"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shane Kyi Hla Win","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), 8 Somapah Road, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), 8 Somapah Road, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018044324","display_name":"Gim Song Soh","orcid":"https://orcid.org/0000-0002-0042-5151"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gim Song Soh","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), 8 Somapah Road, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), 8 Somapah Road, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021980751","display_name":"Shaohui Foong","orcid":"https://orcid.org/0000-0002-9724-6159"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shaohui Foong","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), 8 Somapah Road, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology & Design (SUTD), 8 Somapah Road, Singapore","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3241,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.62525721,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1641","last_page":"1647"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9975000023841858,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9927999973297119,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.7698930501937866},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6938541531562805},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6037376523017883},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5707862973213196},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5355854630470276},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.510744571685791},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.4873386323451996},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.47591453790664673},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4332748353481293},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40414959192276},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27584218978881836},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24742019176483154},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14007505774497986},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13482850790023804}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.7698930501937866},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6938541531562805},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6037376523017883},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5707862973213196},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5355854630470276},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.510744571685791},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.4873386323451996},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.47591453790664673},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4332748353481293},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40414959192276},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27584218978881836},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24742019176483154},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14007505774497986},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13482850790023804},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim43001.2020.9158952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W908683238","https://openalex.org/W1486246160","https://openalex.org/W1927753533","https://openalex.org/W2001694386","https://openalex.org/W2013661116","https://openalex.org/W2022097104","https://openalex.org/W2044912276","https://openalex.org/W2048963734","https://openalex.org/W2075032588","https://openalex.org/W2087020603","https://openalex.org/W2109042184","https://openalex.org/W2123521287","https://openalex.org/W2137104525","https://openalex.org/W2156174987","https://openalex.org/W2527449477","https://openalex.org/W2737041754","https://openalex.org/W2765099430","https://openalex.org/W2890806689","https://openalex.org/W2891645651","https://openalex.org/W2912730243","https://openalex.org/W2941340563","https://openalex.org/W2945720286","https://openalex.org/W2947265751","https://openalex.org/W2954027595","https://openalex.org/W2967419209","https://openalex.org/W4248901411","https://openalex.org/W6676279030"],"related_works":["https://openalex.org/W1990068838","https://openalex.org/W2113517406","https://openalex.org/W2060577328","https://openalex.org/W2088984699","https://openalex.org/W2052071424","https://openalex.org/W2154526094","https://openalex.org/W2107269361","https://openalex.org/W2076425740","https://openalex.org/W2786968259","https://openalex.org/W2018977954"],"abstract_inverted_index":{"This":[0,48],"work":[1],"introduces":[2],"a":[3,11,45,63,79,122],"Central":[4],"Pattern":[5],"Generator":[6],"(CPG)-based":[7],"control":[8,129,147],"formulation":[9],"for":[10,59],"dual-winged":[12],"nature-inspired":[13,35],"Unmanned":[14],"Aerial":[15],"Vehicle":[16],"(UAV).":[17],"Unlike":[18],"majority":[19],"of":[20,25,56,62,117,145],"the":[21,60,74,93,98,103,118,143,146],"current":[22],"popular":[23],"configurations":[24],"UAVs":[26],"such":[27],"as":[28],"multirotors":[29],"and":[30,135,142],"fixed-wing":[31],"aircraft,":[32],"this":[33,53],"particular":[34,54],"UAV":[36,57,100],"generates":[37],"lift":[38],"by":[39],"spinning":[40],"its":[41],"entire":[42],"body":[43],"about":[44],"central":[46],"axis.":[47],"inherent":[49],"oscillatory":[50,69],"nature":[51],"makes":[52],"type":[55],"suitable":[58],"implementation":[61],"CPG-based":[64],"controller,":[65,124],"which":[66,126],"also":[67],"possess":[68],"characteristics.":[70],"The":[71],"CPG":[72,94,104,119],"handles":[73],"low-level":[75],"actuator":[76],"commands":[77],"given":[78],"simple":[80],"higher-level":[81],"input.":[82],"Policy":[83],"Gradients":[84],"with":[85],"Parameter-based":[86],"Exploration":[87],"(PGPE)":[88],"was":[89,113,130,149],"used":[90],"to":[91,96,120],"optimize":[92],"parameters":[95],"obtain":[97],"desired":[99],"motion":[101],"from":[102],"inputs.":[105],"A":[106],"Tip":[107],"Path":[108],"Plane":[109],"(TPP)":[110],"angle":[111],"controller":[112],"added":[114],"on":[115],"top":[116],"form":[121],"TPP-CPG":[123],"in":[125],"closed-loop":[127],"position":[128],"implemented":[131],"above":[132],"this.":[133],"Hovering":[134],"trajectory":[136],"tracking":[137],"tests":[138],"were":[139],"successfully":[140],"conducted":[141],"performance":[144],"strategy":[148],"verified.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}