{"id":"https://openalex.org/W3048289102","doi":"https://doi.org/10.1109/aim43001.2020.9158955","title":"Design and Control of Multibody Multirotor for Faster Flight and Manipulation","display_name":"Design and Control of Multibody Multirotor for Faster Flight and Manipulation","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3048289102","doi":"https://doi.org/10.1109/aim43001.2020.9158955","mag":"3048289102"},"language":"en","primary_location":{"id":"doi:10.1109/aim43001.2020.9158955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158955","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/A5010596424","display_name":"Wonmo Chung","orcid":"https://orcid.org/0000-0001-9586-7763"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Wonmo Chung","raw_affiliation_strings":["School of Mechanical, Aerospace and Nuclear Engineering, Ulsan National Institute of Science and Technology, Ulsan, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical, Aerospace and Nuclear Engineering, Ulsan National Institute of Science and Technology, Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019255263","display_name":"Hungsun Son","orcid":"https://orcid.org/0000-0002-9067-6180"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hungsun Son","raw_affiliation_strings":["School of Mechanical, Aerospace and Nuclear Engineering, Ulsan National Institute of Science and Technology, Ulsan, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical, Aerospace and Nuclear Engineering, Ulsan National Institute of Science and Technology, Ulsan, South Korea","institution_ids":["https://openalex.org/I48566637"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5010596424"],"corresponding_institution_ids":["https://openalex.org/I48566637"],"apc_list":null,"apc_paid":null,"fwci":0.3452,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.72685382,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":"94","issue":null,"first_page":"862","last_page":"867"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9991000294685364,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9991000294685364,"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":0.9987999796867371,"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":0.9979000091552734,"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/multirotor","display_name":"Multirotor","score":0.9783757328987122},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.7118051052093506},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.5895583033561707},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5420412421226501},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.4870446026325226},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.4543650448322296},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42176324129104614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4057060182094574},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3953325152397156},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15020331740379333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1022615134716034},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09665477275848389}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.9783757328987122},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.7118051052093506},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.5895583033561707},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5420412421226501},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.4870446026325226},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.4543650448322296},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42176324129104614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4057060182094574},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3953325152397156},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15020331740379333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1022615134716034},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09665477275848389},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim43001.2020.9158955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158955","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":[{"score":0.8299999833106995,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1998434453","https://openalex.org/W2051155887","https://openalex.org/W2062127139","https://openalex.org/W2089908769","https://openalex.org/W2147161908","https://openalex.org/W2213000691","https://openalex.org/W2342759786","https://openalex.org/W2526138035","https://openalex.org/W2592066277","https://openalex.org/W2593091274","https://openalex.org/W2767551975","https://openalex.org/W2783840519","https://openalex.org/W2794308024","https://openalex.org/W2796299567","https://openalex.org/W2797394057","https://openalex.org/W2803183887","https://openalex.org/W2807766400","https://openalex.org/W2810622842","https://openalex.org/W2890928456","https://openalex.org/W2964335392","https://openalex.org/W2967105464","https://openalex.org/W2967971265","https://openalex.org/W2969259835","https://openalex.org/W2977157653","https://openalex.org/W2980372936","https://openalex.org/W3003798039","https://openalex.org/W3004656347","https://openalex.org/W3101738542","https://openalex.org/W7074662186"],"related_works":["https://openalex.org/W2728521155","https://openalex.org/W2556504211","https://openalex.org/W2810775292","https://openalex.org/W3150660900","https://openalex.org/W2625580943","https://openalex.org/W2914097399","https://openalex.org/W3212684323","https://openalex.org/W3151488434","https://openalex.org/W2094374960","https://openalex.org/W2899893118"],"abstract_inverted_index":{"A":[0,18],"novel":[1],"multibody":[2,105],"octorotor":[3],"UAV":[4,85,108],"is":[5,21,78,113],"developed":[6,109],"to":[7,63,115,150],"increase":[8],"the":[9,15,28,65,68,90,117,121,127,140,148,164,176],"controllability":[10,132],"and":[11,46,158,168,178],"flight":[12,169],"performance":[13],"of":[14,41,57,67,89,120,126,139,175],"multirotor":[16,20,91,106,122,149],"UAV.":[17],"conventional":[19],"underactuated":[22],"since":[23],"only":[24],"four":[25],"states":[26],"for":[27,163,173],"rigid":[29],"body":[30],"dynamics":[31],"can":[32,143],"be":[33,93,144],"controlled":[34],"independently,":[35],"although":[36],"it":[37],"has":[38],"a":[39,58,83],"number":[40],"rotors":[42],"than":[43],"four.":[44],"Pitch":[45],"roll":[47],"motions":[48],"are":[49,61,161,171],"coupled":[50],"with":[51,96],"xy":[52],"position.":[53],"Therefore,":[54],"additional":[55],"actuators":[56],"camera":[59],"gimbal":[60],"necessary":[62],"control":[64,125,159],"orientation":[66],"camera.":[69],"In":[70],"addition,":[71],"aerodynamic":[72,102,136],"performance,":[73],"such":[74],"as":[75,80,82,133,135],"flying":[76],"speed,":[77,98],"not":[79],"good":[81],"fixed-wing":[84],"because":[86],"an":[87],"attitude":[88],"should":[92],"changed":[94],"along":[95],"its":[97],"which":[99,130],"causes":[100],"increasing":[101],"drag.":[103],"The":[104],"(MBMR)":[107],"in":[110],"this":[111],"paper":[112],"able":[114],"decouple":[116],"pitch":[118,141],"angle":[119,142],"from":[123],"position":[124],"main":[128],"fuselage,":[129],"improves":[131],"well":[134],"performance.":[137],"Independence":[138],"achieved":[145],"by":[146],"dividing":[147],"three":[151],"frames":[152],"using":[153],"rotational":[154],"joints.":[155],"Control":[156],"structure":[157],"allocation":[160],"designed":[162],"MBMR.":[165],"Aerodynamic":[166],"analysis":[167],"simulation":[170],"implemented":[172],"validation":[174],"MBMR":[177],"control.":[179]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}