{"id":"https://openalex.org/W4312964536","doi":"https://doi.org/10.1109/ccta49430.2022.9966068","title":"Quadrotor Control on $\\text{SU}(2)\\times \\mathbb{R}^{3}$ with SLAM Integration","display_name":"Quadrotor Control on $\\text{SU}(2)\\times \\mathbb{R}^{3}$ with SLAM Integration","publication_year":2022,"publication_date":"2022-08-23","ids":{"openalex":"https://openalex.org/W4312964536","doi":"https://doi.org/10.1109/ccta49430.2022.9966068"},"language":"en","primary_location":{"id":"doi:10.1109/ccta49430.2022.9966068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta49430.2022.9966068","pdf_url":null,"source":{"id":"https://openalex.org/S4363608038","display_name":"2022 IEEE Conference on Control Technology and Applications (CCTA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pure.tue.nl/ws/files/193601782/2110.01099v1.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035704541","display_name":"Marcus Greiff","orcid":"https://orcid.org/0000-0003-4690-2221"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marcus Greiff","raw_affiliation_strings":["Mitsubishi Electric Research Labs (MERL),Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Labs (MERL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103026533","display_name":"Patrik Persson","orcid":"https://orcid.org/0000-0001-6221-4475"},"institutions":[{"id":"https://openalex.org/I1279596006","display_name":"Statistics Sweden","ror":"https://ror.org/05x7wz523","country_code":"SE","type":"government","lineage":["https://openalex.org/I1279596006"]},{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Patrik Persson","raw_affiliation_strings":["Lund University,Center for Mathematical Sciences,Sweden","Center for Mathematical Sciences, Lund University, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lund University,Center for Mathematical Sciences,Sweden","institution_ids":["https://openalex.org/I1279596006"]},{"raw_affiliation_string":"Center for Mathematical Sciences, Lund University, Sweden","institution_ids":["https://openalex.org/I1279596006","https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100778346","display_name":"Zhiyong Sun","orcid":"https://orcid.org/0000-0002-4700-1479"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Zhiyong Sun","raw_affiliation_strings":["Eindhoven University of Technology,Department of Electrical Engineering,the Netherlands","Department of Electrical Engineering, Eindhoven University of Technology, the Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,Department of Electrical Engineering,the Netherlands","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Department of Electrical Engineering, Eindhoven University of Technology, the Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068985335","display_name":"Kalle \u00c5str\u00f6m","orcid":"https://orcid.org/0000-0002-8689-7810"},"institutions":[{"id":"https://openalex.org/I1279596006","display_name":"Statistics Sweden","ror":"https://ror.org/05x7wz523","country_code":"SE","type":"government","lineage":["https://openalex.org/I1279596006"]},{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Karl Astrom","raw_affiliation_strings":["Lund University,Center for Mathematical Sciences,Sweden","Center for Mathematical Sciences, Lund University, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lund University,Center for Mathematical Sciences,Sweden","institution_ids":["https://openalex.org/I1279596006"]},{"raw_affiliation_string":"Center for Mathematical Sciences, Lund University, Sweden","institution_ids":["https://openalex.org/I1279596006","https://openalex.org/I187531555"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013736282","display_name":"Anders Robertsson","orcid":"https://orcid.org/0000-0003-1063-4771"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Anders Robertsson","raw_affiliation_strings":["Lund University,Department of Automatic Control,Sweden","Department of Automatic Control, Lund University, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lund University,Department of Automatic Control,Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"Department of Automatic Control, Lund University, Sweden","institution_ids":["https://openalex.org/I187531555"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31012551,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"58","issue":null,"first_page":"291","last_page":"298"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9991000294685364,"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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7561770677566528},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6558413505554199},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.607008159160614},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5813931226730347},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.579011082649231},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.538345217704773},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4359700083732605},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4339510202407837},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3979528248310089},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.394016295671463},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3647592067718506},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34947073459625244},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21994051337242126},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16989275813102722},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13385328650474548}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7561770677566528},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6558413505554199},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.607008159160614},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5813931226730347},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.579011082649231},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.538345217704773},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4359700083732605},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4339510202407837},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3979528248310089},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.394016295671463},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3647592067718506},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34947073459625244},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21994051337242126},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16989275813102722},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13385328650474548},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/ccta49430.2022.9966068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta49430.2022.9966068","pdf_url":null,"source":{"id":"https://openalex.org/S4363608038","display_name":"2022 IEEE Conference on Control Technology and Applications (CCTA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/5a1d7b5e-caaf-44cc-a570-43756d5bfd50","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/5a1d7b5e-caaf-44cc-a570-43756d5bfd50","pdf_url":"https://pure.tue.nl/ws/files/193601782/2110.01099v1.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Greiff, M, Persson, P, Sun, Z, \u00c5str\u00f6m, K & Robertsson, A 2022, Quadrotor Control on SU(2)\u00d7 R 3 with SLAM Integration. in 2022 IEEE Conference on Control Technology and Applications (CCTA)., 9966068, Institute of Electrical and Electronics Engineers, pp. 291-298, 6th IEEE Conference on Control Technology and Applications, CCTA 2022, Trieste, Italy, 22/08/22. https://doi.org/10.1109/CCTA49430.2022.9966068","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:lup.lub.lu.se:31e193c7-dacc-4798-bf79-117c86730c76","is_oa":false,"landing_page_url":"https://lup.lub.lu.se/record/31e193c7-dacc-4798-bf79-117c86730c76","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"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":"pmh:oai:pure.tue.nl:publications/5a1d7b5e-caaf-44cc-a570-43756d5bfd50","is_oa":true,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=85144592093&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Greiff, M, Persson, P, Sun, Z, \u00c5str\u00f6m, K & Robertsson, A 2022, Quadrotor Control on SU(2)\u00d7 R 3 with SLAM Integration. in 2022 IEEE Conference on Control Technology and Applications (CCTA)., 9966068, Institute of Electrical and Electronics Engineers, pp. 291-298, 6th IEEE Conference on Control Technology and Applications, CCTA 2022, Trieste, Italy, 22/08/22. https://doi.org/10.1109/CCTA49430.2022.9966068","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:tue:oai:pure.tue.nl:publications/5a1d7b5e-caaf-44cc-a570-43756d5bfd50","is_oa":true,"landing_page_url":"https://research.tue.nl/nl/publications/5a1d7b5e-caaf-44cc-a570-43756d5bfd50","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 IEEE Conference on Control Technology and Applications (CCTA), 291 - 298","raw_type":"info:eu-repo/semantics/conferencepaper"}],"best_oa_location":{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/5a1d7b5e-caaf-44cc-a570-43756d5bfd50","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/5a1d7b5e-caaf-44cc-a570-43756d5bfd50","pdf_url":"https://pure.tue.nl/ws/files/193601782/2110.01099v1.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Greiff, M, Persson, P, Sun, Z, \u00c5str\u00f6m, K & Robertsson, A 2022, Quadrotor Control on SU(2)\u00d7 R 3 with SLAM Integration. in 2022 IEEE Conference on Control Technology and Applications (CCTA)., 9966068, Institute of Electrical and Electronics Engineers, pp. 291-298, 6th IEEE Conference on Control Technology and Applications, CCTA 2022, Trieste, Italy, 22/08/22. https://doi.org/10.1109/CCTA49430.2022.9966068","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1248375482","display_name":null,"funder_award_id":"RIT15-0038","funder_id":"https://openalex.org/F4320307454","funder_display_name":"Sj\u00f6gren\u2019s Syndrome Foundation"}],"funders":[{"id":"https://openalex.org/F4320307454","display_name":"Sj\u00f6gren\u2019s Syndrome Foundation","ror":"https://ror.org/00wevt173"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312964536.pdf","grobid_xml":"https://content.openalex.org/works/W4312964536.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1502151758","https://openalex.org/W1521464635","https://openalex.org/W1575685434","https://openalex.org/W1702376673","https://openalex.org/W1941749034","https://openalex.org/W2036131280","https://openalex.org/W2085261163","https://openalex.org/W2097649661","https://openalex.org/W2102415323","https://openalex.org/W2109635530","https://openalex.org/W2109656638","https://openalex.org/W2117228865","https://openalex.org/W2142702104","https://openalex.org/W2185917628","https://openalex.org/W2482726005","https://openalex.org/W2538522345","https://openalex.org/W2547074464","https://openalex.org/W2702812625","https://openalex.org/W2903464090","https://openalex.org/W2943966153","https://openalex.org/W2945919750","https://openalex.org/W2963689432","https://openalex.org/W3118800827","https://openalex.org/W3125449081","https://openalex.org/W3205159146","https://openalex.org/W3208343745","https://openalex.org/W3213820276","https://openalex.org/W4243055393","https://openalex.org/W4250666038","https://openalex.org/W6686858752","https://openalex.org/W6739989628","https://openalex.org/W6802626690"],"related_works":["https://openalex.org/W2125308530","https://openalex.org/W2034836143","https://openalex.org/W1541079531","https://openalex.org/W1981991040","https://openalex.org/W2980755614","https://openalex.org/W2122489470","https://openalex.org/W2005337052","https://openalex.org/W2467646110","https://openalex.org/W3001939774","https://openalex.org/W2164471481"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,7,26,59,84],"trajectory":[3],"tracking":[4,30],"controller":[5,50],"for":[6,80,90],"quadrotor":[8],"unmanned":[9],"aerial":[10],"vehicle":[11],"(UAV)":[12],"configured":[13],"on":[14,32],"<tex":[15,33],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[16,34],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\text{SU}(2)":[17],"\\times":[18,36],"\\mathbb{R}^{3}$</tex>":[19,37],",":[20],"and":[21,48,56,62],"relate":[22],"this":[23],"result":[24],"to":[25],"family":[27],"of":[28],"geometric":[29],"controllers":[31],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\text{SO}(3)":[35],".":[38],"The":[39,73],"theoretical":[40],"results":[41],"are":[42],"verified":[43],"in":[44,54,83],"several":[45],"simulation":[46],"examples,":[47],"the":[49,88],"is":[51],"subsequently":[52],"implemented":[53],"practice":[55],"integrated":[57],"with":[58],"simultaneous":[60],"localization":[61],"mapping":[63],"(SLAM)":[64],"system":[65,76],"through":[66],"an":[67],"onboard":[68],"extended":[69],"Kalman":[70],"filter":[71],"(EKF).":[72],"proposed":[74],"con-trol":[75],"can":[77],"be":[78],"used":[79],"inventorying":[81],"tasks":[82],"supermarket":[85],"environment":[86],"without":[87],"need":[89],"external":[91],"positioning":[92],"systems.":[93]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2023-01-05T00:00:00"}