{"id":"https://openalex.org/W1986360546","doi":"https://doi.org/10.1109/cdc.2012.6425945","title":"Path following for a quadrotor using dynamic extension and transverse feedback linearization","display_name":"Path following for a quadrotor using dynamic extension and transverse feedback linearization","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W1986360546","doi":"https://doi.org/10.1109/cdc.2012.6425945","mag":"1986360546"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2012.6425945","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2012.6425945","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5065225553","display_name":"Adeel Akhtar","orcid":"https://orcid.org/0000-0002-1830-0824"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Adeel Akhtar","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ONT, Canada","Department of Mechanical & Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Ontario, Canada N2L 3G1"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Department of Mechanical & Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Ontario, Canada N2L 3G1","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024242059","display_name":"Steven L. Waslander","orcid":"https://orcid.org/0000-0003-4217-4415"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Steven L. Waslander","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ONT, Canada","Department of Mechanical & Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Ontario, Canada N2L 3G1"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Department of Mechanical & Mechatronics Engineering, University of Waterloo, 200 University Avenue West, Ontario, Canada N2L 3G1","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033143109","display_name":"Christopher Nielsen","orcid":"https://orcid.org/0000-0003-3311-3207"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Christopher Nielsen","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ONT, Canada","Department of Electrical and Computer Engineering, University of Waterloo, 200 University Avenue West, Ontario, Canada, N2L 3G1"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Waterloo, 200 University Avenue West, Ontario, Canada, N2L 3G1","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3551","last_page":"3556"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9984999895095825,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9984999895095825,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9979000091552734,"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":0.9955000281333923,"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/control-theory","display_name":"Control theory (sociology)","score":0.8173779249191284},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.7258356213569641},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.684459924697876},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.641555905342102},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6320530772209167},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5777382850646973},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5775604844093323},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49788689613342285},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.46642810106277466},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.4569781422615051},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4166659116744995},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23619624972343445},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14005672931671143},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11558613181114197},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08037972450256348}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8173779249191284},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.7258356213569641},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.684459924697876},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.641555905342102},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6320530772209167},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5777382850646973},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5775604844093323},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49788689613342285},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.46642810106277466},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.4569781422615051},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4166659116744995},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23619624972343445},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14005672931671143},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11558613181114197},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08037972450256348},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2012.6425945","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2012.6425945","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE 51st IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.550000011920929,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W109168792","https://openalex.org/W1974631823","https://openalex.org/W1980611405","https://openalex.org/W1981858337","https://openalex.org/W1991554982","https://openalex.org/W2018123312","https://openalex.org/W2034706962","https://openalex.org/W2049279591","https://openalex.org/W2061055587","https://openalex.org/W2096282629","https://openalex.org/W2124838681","https://openalex.org/W2131062657","https://openalex.org/W2131692463","https://openalex.org/W2134790752","https://openalex.org/W2138158112","https://openalex.org/W2156022850","https://openalex.org/W2165771902","https://openalex.org/W2167229184","https://openalex.org/W4292872153","https://openalex.org/W4301460572","https://openalex.org/W6643889473","https://openalex.org/W6679180337"],"related_works":["https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W1836713364","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2964841342","https://openalex.org/W4300511988","https://openalex.org/W130230158","https://openalex.org/W2165424018","https://openalex.org/W2317650444"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"a":[3,8,32,35,56,60,68],"path":[4,69,79],"following":[5,70],"controller":[6,15,71],"for":[7],"quadrotor":[9,21,52],"vehicle.":[10],"A":[11],"smooth,":[12],"dynamic,":[13],"feedback":[14,63],"is":[16,53,72],"designed":[17,73],"that":[18,74],"allows":[19],"the":[20,44,51,78,82,86],"to":[22],"follow":[23],"both":[24],"closed":[25],"and":[26,62],"non-closed":[27],"embedded":[28],"curves":[29],"while":[30,39,80],"maintaining":[31],"desired":[33,36,41,83],"speed,":[34],"acceleration":[37],"or":[38],"stabilizing":[40],"points":[42],"along":[43,85],"curves.":[45],"The":[46],"nonlinear":[47],"dynamic":[48],"model":[49],"of":[50,77],"transformed":[54],"into":[55],"linear":[57],"system":[58],"via":[59],"coordinate":[61],"linearization":[64],"transformation.":[65],"Once":[66],"transformed,":[67],"guarantees":[75],"invariance":[76],"enforcing":[81],"motion":[84],"path.":[87]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
