{"id":"https://openalex.org/W3164708356","doi":"https://doi.org/10.1109/aim46487.2021.9517341","title":"Collision Recovery Control of a Foldable Quadrotor","display_name":"Collision Recovery Control of a Foldable Quadrotor","publication_year":2021,"publication_date":"2021-07-12","ids":{"openalex":"https://openalex.org/W3164708356","doi":"https://doi.org/10.1109/aim46487.2021.9517341","mag":"3164708356"},"language":"en","primary_location":{"id":"doi:10.1109/aim46487.2021.9517341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim46487.2021.9517341","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2105.12273","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003658799","display_name":"Karishma Patnaik","orcid":"https://orcid.org/0000-0001-8891-0428"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karishma Patnaik","raw_affiliation_strings":["The Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, USA","Arizona State University,The Polytechnic School, Ira A. Fulton Schools of Engineering,Mesa,AZ,USA,85212"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, USA","institution_ids":["https://openalex.org/I55732556"]},{"raw_affiliation_string":"Arizona State University,The Polytechnic School, Ira A. Fulton Schools of Engineering,Mesa,AZ,USA,85212","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068032069","display_name":"Shatadal Mishra","orcid":"https://orcid.org/0000-0002-0272-3240"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shatadal Mishra","raw_affiliation_strings":["The Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, USA","Arizona State University,The Polytechnic School, Ira A. Fulton Schools of Engineering,Mesa,AZ,USA,85212"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, USA","institution_ids":["https://openalex.org/I55732556"]},{"raw_affiliation_string":"Arizona State University,The Polytechnic School, Ira A. Fulton Schools of Engineering,Mesa,AZ,USA,85212","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041377491","display_name":"Zachary Chase","orcid":null},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary Chase","raw_affiliation_strings":["The Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, USA","Arizona State University,The Polytechnic School, Ira A. Fulton Schools of Engineering,Mesa,AZ,USA,85212"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, USA","institution_ids":["https://openalex.org/I55732556"]},{"raw_affiliation_string":"Arizona State University,The Polytechnic School, Ira A. Fulton Schools of Engineering,Mesa,AZ,USA,85212","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100453347","display_name":"Wenlong Zhang","orcid":"https://orcid.org/0000-0002-4046-2213"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenlong Zhang","raw_affiliation_strings":["The Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, USA","Arizona State University**"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ, USA","institution_ids":["https://openalex.org/I55732556"]},{"raw_affiliation_string":"Arizona State University**","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I55732556"],"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":"418","last_page":"423"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9983999729156494,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/payload","display_name":"Payload (computing)","score":0.7770023941993713},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6395931839942932},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5802595615386963},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5552600026130676},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48064079880714417},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.47514796257019043},{"id":"https://openalex.org/keywords/damper","display_name":"Damper","score":0.43611425161361694},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4226982593536377},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3901054859161377},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.381157249212265},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.34790027141571045},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.28701233863830566},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08292171359062195},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07829585671424866}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7770023941993713},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6395931839942932},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5802595615386963},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5552600026130676},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48064079880714417},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.47514796257019043},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.43611425161361694},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4226982593536377},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3901054859161377},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.381157249212265},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.34790027141571045},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.28701233863830566},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08292171359062195},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07829585671424866},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/aim46487.2021.9517341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim46487.2021.9517341","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2105.12273","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.12273","pdf_url":"https://arxiv.org/pdf/2105.12273","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"mag:3164708356","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2105.12273.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2105.12273","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2105.12273","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2105.12273","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.12273","pdf_url":"https://arxiv.org/pdf/2105.12273","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W416303243","https://openalex.org/W1977930315","https://openalex.org/W1980982306","https://openalex.org/W1981960851","https://openalex.org/W1998481308","https://openalex.org/W2014138009","https://openalex.org/W2023138554","https://openalex.org/W2033167899","https://openalex.org/W2050592409","https://openalex.org/W2055913619","https://openalex.org/W2082259666","https://openalex.org/W2109656638","https://openalex.org/W2119599739","https://openalex.org/W2124756273","https://openalex.org/W2462685666","https://openalex.org/W2900539406","https://openalex.org/W2908709305","https://openalex.org/W2972770144","https://openalex.org/W6644836895","https://openalex.org/W6663346092","https://openalex.org/W6758508705","https://openalex.org/W6791267901","https://openalex.org/W7061793133"],"related_works":["https://openalex.org/W3193815138","https://openalex.org/W1425085718","https://openalex.org/W2462685666","https://openalex.org/W2756993535","https://openalex.org/W2352611409","https://openalex.org/W2043501156","https://openalex.org/W2910237089","https://openalex.org/W2293274927","https://openalex.org/W2516440423","https://openalex.org/W3047139783","https://openalex.org/W2898179703","https://openalex.org/W2897588038","https://openalex.org/W2088835836","https://openalex.org/W3091334478","https://openalex.org/W3199703811","https://openalex.org/W3194688104","https://openalex.org/W2607386221","https://openalex.org/W2593637696","https://openalex.org/W3014217098","https://openalex.org/W3197639738"],"abstract_inverted_index":{"Autonomous":[0],"missions":[1,33],"of":[2,39,146,155],"small":[3],"unmanned":[4],"aerial":[5,32],"vehicles":[6],"(UAVs)":[7],"are":[8],"prone":[9],"to":[10,13,36,107,138,151],"collisions":[11,25,58,148],"owing":[12],"environmental":[14],"disturbances":[15],"and":[16,26,59,81,97,120,136],"localization":[17],"errors.":[18],"Consequently,":[19],"a":[20,50,71,98,108,121,152],"UAV":[21],"that":[22,75,125],"can":[23,56],"endure":[24],"perform":[27],"recovery":[28,99,140],"control":[29,141],"in":[30,143],"critical":[31],"is":[34,64,79,90,95,101],"desirable":[35],"prevent":[37],"loss":[38],"the":[40,76,82,87,105,118,127,133,144,156],"vehicle":[41],"and/or":[42],"payload.":[43],"We":[44],"address":[45],"this":[46],"problem":[47],"by":[48],"proposing":[49],"novel":[51],"foldable":[52],"quadrotor":[53,63,123,154],"system":[54,106],"which":[55,103],"sustain":[57],"recover":[60],"safely.":[61],"The":[62,92],"designed":[65],"with":[66],"integrated":[67,129],"mechanical":[68],"compliance":[69],"using":[70],"torsional":[72],"spring":[73],"such":[74],"impact":[77,84],"time":[78],"increased":[80],"net":[83],"force":[85],"on":[86,117],"main":[88],"body":[89],"decreased.":[91],"post-collision":[93],"dynamics":[94],"analysed":[96],"controller":[100],"proposed":[102,119],"stabilizes":[104],"hovering":[109],"location":[110],"without":[111],"additional":[112],"collisions.":[113],"Flight":[114],"test":[115],"results":[116],"conventional":[122],"demonstrate":[124],"for":[126],"former,":[128],"spring-damper":[130],"characteristics":[131],"reduce":[132],"rebound":[134],"velocity":[135],"lead":[137],"simple":[139],"algorithms":[142],"event":[145],"unintended":[147],"as":[149],"compared":[150],"rigid":[153],"same":[157],"dimension.":[158]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}