{"id":"https://openalex.org/W2298318144","doi":"https://doi.org/10.1109/cdc.2016.7798976","title":"Distributed iterative learning control for a team of quadrotors","display_name":"Distributed iterative learning control for a team of quadrotors","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2298318144","doi":"https://doi.org/10.1109/cdc.2016.7798976","mag":"2298318144"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2016.7798976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7798976","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1603.05933","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102727574","display_name":"A. Hock","orcid":"https://orcid.org/0000-0002-1276-6180"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Andreas Hock","raw_affiliation_strings":["Dynamic Systems Lab, University of Toronto Institute for Aerospace Studies (UTIAS), Canada","Dynamic Systems Lab at the University of Toronto Institute for Aerospace Studies (UTIAS), Canada"],"affiliations":[{"raw_affiliation_string":"Dynamic Systems Lab, University of Toronto Institute for Aerospace Studies (UTIAS), Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Dynamic Systems Lab at the University of Toronto Institute for Aerospace Studies (UTIAS), Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052147335","display_name":"Angela P. Schoellig","orcid":"https://orcid.org/0000-0003-4012-4668"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Angela P. Schoellig","raw_affiliation_strings":["Dynamic Systems Lab, University of Toronto Institute for Aerospace Studies (UTIAS), Canada","Dynamic Systems Lab at the University of Toronto Institute for Aerospace Studies (UTIAS), Canada"],"affiliations":[{"raw_affiliation_string":"Dynamic Systems Lab, University of Toronto Institute for Aerospace Studies (UTIAS), Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Dynamic Systems Lab at the University of Toronto Institute for Aerospace Studies (UTIAS), Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102727574"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":0.2705,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56509163,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"4640","last_page":"4646"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9993000030517578,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9993000030517578,"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/T11402","display_name":"Vascular Malformations Diagnosis and Treatment","score":0.9301000237464905,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.8722826838493347},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6789706349372864},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6194353103637695},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6111408472061157},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.54430091381073},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5106118321418762},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.47870922088623047},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.467837929725647},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4663642346858978},{"id":"https://openalex.org/keywords/scalar","display_name":"Scalar (mathematics)","score":0.4240134358406067},{"id":"https://openalex.org/keywords/mathematical-proof","display_name":"Mathematical proof","score":0.41008085012435913},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3802805542945862},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3520825505256653},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25138184428215027},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15791383385658264},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14115184545516968},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.13677936792373657}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.8722826838493347},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6789706349372864},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6194353103637695},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6111408472061157},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.54430091381073},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5106118321418762},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.47870922088623047},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.467837929725647},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4663642346858978},{"id":"https://openalex.org/C57691317","wikidata":"https://www.wikidata.org/wiki/Q1289248","display_name":"Scalar (mathematics)","level":2,"score":0.4240134358406067},{"id":"https://openalex.org/C108710211","wikidata":"https://www.wikidata.org/wiki/Q11538","display_name":"Mathematical proof","level":2,"score":0.41008085012435913},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3802805542945862},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3520825505256653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25138184428215027},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15791383385658264},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14115184545516968},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.13677936792373657},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/cdc.2016.7798976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7798976","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1603.05933","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1603.05933","pdf_url":"https://arxiv.org/pdf/1603.05933","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":"","raw_type":"text"},{"id":"mag:2298318144","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1603.05933","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.1603.05933","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1603.05933","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1603.05933","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1603.05933","pdf_url":"https://arxiv.org/pdf/1603.05933","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":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2298318144.pdf","grobid_xml":"https://content.openalex.org/works/W2298318144.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W613360614","https://openalex.org/W1630241696","https://openalex.org/W1974534430","https://openalex.org/W1978132363","https://openalex.org/W1978631282","https://openalex.org/W2000803795","https://openalex.org/W2003218659","https://openalex.org/W2041242313","https://openalex.org/W2078811174","https://openalex.org/W2090193996","https://openalex.org/W2097183540","https://openalex.org/W2099673397","https://openalex.org/W2108688611","https://openalex.org/W2146396918","https://openalex.org/W2147539438","https://openalex.org/W2147626503","https://openalex.org/W2148417885","https://openalex.org/W6667589103","https://openalex.org/W6674874901","https://openalex.org/W6682089242"],"related_works":["https://openalex.org/W2570238019","https://openalex.org/W2346204229","https://openalex.org/W2810329949","https://openalex.org/W2773282937","https://openalex.org/W2093386980","https://openalex.org/W2221921493","https://openalex.org/W2922390560","https://openalex.org/W2787174146","https://openalex.org/W3023439464","https://openalex.org/W3011198854","https://openalex.org/W2945028204","https://openalex.org/W3021532371","https://openalex.org/W3213820271","https://openalex.org/W3033628625","https://openalex.org/W2552241273","https://openalex.org/W2168921921","https://openalex.org/W2982252571","https://openalex.org/W3019674685","https://openalex.org/W3092948749","https://openalex.org/W3007165070"],"abstract_inverted_index":{"The":[0,46],"goal":[1],"of":[2,10,43,73,147,199],"this":[3,28],"work":[4,210],"is":[5,49,167,207],"to":[6,12,15,40,52,87,96,101,118,127,180,187,211],"enable":[7],"a":[8,18,23,31,59,119,128,155,171],"team":[9],"quadrotors":[11,195],"learn":[13],"how":[14],"accurately":[16],"track":[17],"desired":[19,47],"trajectory":[20,48],"while":[21],"holding":[22],"given":[24],"formation.":[25],"We":[26,57,162],"solve":[27],"problem":[29],"in":[30,94,149,215],"distributed":[32,60,202,213],"manner,":[33],"where":[34,66],"each":[35,67],"vehicle":[36,68],"has":[37],"only":[38,50,133],"access":[39],"the":[41,71,136,150,197,200,208],"information":[42],"its":[44,74,77,84],"neighbors.":[45,176],"available":[51],"one":[53],"(or":[54],"few)":[55],"vehicles.":[56],"present":[58],"iterative":[61],"learning":[62,112,130],"control":[63],"(ILC)":[64],"approach":[65],"learns":[69],"from":[70],"experience":[72],"own":[75],"and":[76,82],"neighbors'":[78],"previous":[79],"task":[80],"repetitions,":[81],"adapts":[83],"feedforward":[85],"input":[86],"improve":[88],"performance.":[89],"Existing":[90],"algorithms":[91],"are":[92],"extended":[93],"theory":[95],"make":[97],"them":[98],"more":[99,145],"applicable":[100],"real-world":[102],"experiments.":[103],"In":[104],"particular,":[105],"we":[106],"prove":[107],"stability":[108,166],"for":[109,189],"any":[110],"causal":[111],"function":[113,131],"with":[114,193],"gains":[115],"chosen":[116],"according":[117],"simple":[120],"scalar":[121],"condition.":[122],"Previous":[123],"proofs":[124],"were":[125],"restricted":[126],"specific":[129],"that":[132,165],"depends":[134],"on":[135],"tracking":[137],"error":[138],"derivative":[139],"(D-type":[140],"ILC).":[141],"Our":[142],"extension":[143],"provides":[144],"degrees":[146],"freedom":[148],"ILC":[151,204,214],"design":[152],"and,":[153],"as":[154],"result,":[156],"better":[157],"performance":[158],"can":[159],"be":[160],"achieved.":[161],"also":[163],"show":[164,212],"not":[168],"affected":[169],"by":[170],"linear":[172],"dynamic":[173],"coupling":[174],"between":[175],"This":[177,206],"allows":[178],"us":[179],"use":[181],"an":[182],"additional":[183],"consensus":[184],"feedback":[185],"controller":[186],"compensate":[188],"non-repetitive":[190],"disturbances.":[191],"Experiments":[192],"two":[194],"attest":[196],"effectiveness":[198],"proposed":[201],"multi-agent":[203],"approach.":[205],"first":[209],"experiment.":[216]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-17T06:59:57.516163","created_date":"2025-10-10T00:00:00"}
