{"id":"https://openalex.org/W1985604492","doi":"https://doi.org/10.1109/cdc.2013.6759988","title":"Fault tolerant path following for a quadrotor","display_name":"Fault tolerant path following for a quadrotor","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W1985604492","doi":"https://doi.org/10.1109/cdc.2013.6759988","mag":"1985604492"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2013.6759988","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2013.6759988","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"52nd IEEE Conference on Decision and Control","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, Ontario, Canada","Dept. of Mech. & Mechatron. Eng., Univ. of Waterloo, Waterloo, ON, , Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, Ontario, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Dept. of Mech. & Mechatron. Eng., Univ. of Waterloo, Waterloo, ON, , Canada","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, Ontario, Canada","Dept. of Mech. & Mechatron. Eng., Univ. of Waterloo, Waterloo, ON, , Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, Ontario, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Dept. of Mech. & Mechatron. Eng., Univ. of Waterloo, Waterloo, ON, , Canada","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, Ontario, Canada","Dept. of Mech. & Mechatron. Eng., Univ. of Waterloo, Waterloo, ON, , Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, Ontario, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Dept. of Mech. & Mechatron. Eng., Univ. of Waterloo, Waterloo, ON, , Canada","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":30,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"847","last_page":"852"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"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":0.9977999925613403,"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/T12158","display_name":"Guidance and Control Systems","score":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8131458163261414},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.7175394296646118},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.714871883392334},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6712262630462646},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6452803611755371},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.6107160449028015},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.506208598613739},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.49411967396736145},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4688452482223511},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.42564719915390015},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.4164394736289978},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3262104392051697},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2804129123687744},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2722780704498291},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2185918390750885},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11586642265319824},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10368716716766357},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.06966522336006165},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.05370175838470459}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8131458163261414},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.7175394296646118},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.714871883392334},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6712262630462646},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6452803611755371},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.6107160449028015},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.506208598613739},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.49411967396736145},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4688452482223511},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.42564719915390015},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.4164394736289978},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3262104392051697},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2804129123687744},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2722780704498291},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2185918390750885},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11586642265319824},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10368716716766357},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.06966522336006165},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.05370175838470459},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2013.6759988","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2013.6759988","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"52nd IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7400000095367432,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W178915593","https://openalex.org/W1491946949","https://openalex.org/W1501966803","https://openalex.org/W1664930802","https://openalex.org/W1956651624","https://openalex.org/W1986360546","https://openalex.org/W1991554982","https://openalex.org/W2017493230","https://openalex.org/W2049279591","https://openalex.org/W2054994117","https://openalex.org/W2092645620","https://openalex.org/W2124838681","https://openalex.org/W2131062657","https://openalex.org/W2131692463","https://openalex.org/W2134790752","https://openalex.org/W2146840171","https://openalex.org/W2156022850","https://openalex.org/W2165771902","https://openalex.org/W3186624155","https://openalex.org/W4252112222","https://openalex.org/W4292872153","https://openalex.org/W6607270105","https://openalex.org/W6664091275","https://openalex.org/W6679180337","https://openalex.org/W6681899424","https://openalex.org/W6992347331"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W3013085049","https://openalex.org/W1560496689","https://openalex.org/W1992739770","https://openalex.org/W4386900933","https://openalex.org/W4229058035","https://openalex.org/W3125672081","https://openalex.org/W4385301946","https://openalex.org/W2006389905","https://openalex.org/W4297797135"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,8,12,38,66,71],"path":[4,44,77],"following":[5,78],"controller":[6,79],"for":[7,82],"quadrotor":[9,27,62],"UAV":[10],"experiencing":[11],"single":[13],"rotor":[14],"failure.":[15,56],"A":[16,76],"smooth,":[17],"dynamic":[18],"feedback":[19,74],"control":[20],"law":[21],"is":[22,51,63,80],"proposed":[23],"that":[24,85],"allows":[25],"the":[26,43,61,89,96],"to":[28,55,102],"follow":[29],"both":[30],"closed":[31],"and":[32,73],"non-closed":[33],"embedded":[34],"curves":[35],"while":[36],"maintaining":[37],"desired":[39],"velocity":[40],"profile":[41],"along":[42],"when":[45],"one":[46],"out":[47],"of":[48,60,88,95],"four":[49],"motors":[50],"completely":[52],"disabled":[53],"due":[54],"The":[57,91],"nonlinear":[58,93],"model":[59,69],"transformed":[64,83],"into":[65],"partially":[67],"linear":[68],"by":[70],"coordinate":[72],"transformation.":[75],"designed":[81],"system":[84],"guarantees":[86],"invariance":[87],"path.":[90],"uncontrolled":[92],"portion":[94],"dynamics":[97],"(internal":[98],"dynamics)":[99],"are":[100],"shown":[101],"be":[103],"bounded.":[104]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
