{"id":"https://openalex.org/W2584074122","doi":"https://doi.org/10.1109/icarcv.2016.7838808","title":"Modeling and control of a hexacopter with a rotating seesaw","display_name":"Modeling and control of a hexacopter with a rotating seesaw","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2584074122","doi":"https://doi.org/10.1109/icarcv.2016.7838808","mag":"2584074122"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2016.7838808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2016.7838808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"},"type":"article","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/A5042816934","display_name":"Dolev Yecheskel","orcid":null},"institutions":[{"id":"https://openalex.org/I124227911","display_name":"Ben-Gurion University of the Negev","ror":"https://ror.org/05tkyf982","country_code":"IL","type":"education","lineage":["https://openalex.org/I124227911"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Dolev Yecheskel","raw_affiliation_strings":["Department of Mechanical Engineering, Ben-Gurion University of the Negev, Beer-Sheva, Israel"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Ben-Gurion University of the Negev, Beer-Sheva, Israel","institution_ids":["https://openalex.org/I124227911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051269107","display_name":"Shai Arogeti","orcid":"https://orcid.org/0000-0002-1838-8248"},"institutions":[{"id":"https://openalex.org/I124227911","display_name":"Ben-Gurion University of the Negev","ror":"https://ror.org/05tkyf982","country_code":"IL","type":"education","lineage":["https://openalex.org/I124227911"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Shai Arogeti","raw_affiliation_strings":["Department of Mechanical Engineering, Ben-Gurion University of the Negev, Beer-Sheva, Israel"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Ben-Gurion University of the Negev, Beer-Sheva, Israel","institution_ids":["https://openalex.org/I124227911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5042816934"],"corresponding_institution_ids":["https://openalex.org/I124227911"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.15818858,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","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":0.9993000030517578,"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/seesaw-molecular-geometry","display_name":"Seesaw molecular geometry","score":0.9060590863227844},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.7365543842315674},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6872904300689697},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.5749655961990356},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.5413432717323303},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5226340293884277},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5156094431877136},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4952827990055084},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47553277015686035},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.445403516292572},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.43456417322158813},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.4227408468723297},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.311937540769577},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28891223669052124},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26557081937789917},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22170907258987427},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.22084039449691772},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18949675559997559},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1365686058998108},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10874360799789429},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10209342837333679}],"concepts":[{"id":"https://openalex.org/C159762639","wikidata":"https://www.wikidata.org/wiki/Q2273845","display_name":"Seesaw molecular geometry","level":3,"score":0.9060590863227844},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.7365543842315674},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6872904300689697},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.5749655961990356},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.5413432717323303},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5226340293884277},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5156094431877136},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4952827990055084},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47553277015686035},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.445403516292572},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.43456417322158813},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.4227408468723297},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.311937540769577},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28891223669052124},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26557081937789917},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22170907258987427},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.22084039449691772},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18949675559997559},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1365686058998108},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10874360799789429},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10209342837333679},{"id":"https://openalex.org/C185544564","wikidata":"https://www.wikidata.org/wiki/Q81197","display_name":"Nuclear physics","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/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0},{"id":"https://openalex.org/C186453547","wikidata":"https://www.wikidata.org/wiki/Q2126","display_name":"Neutrino","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2016.7838808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2016.7838808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W168598011","https://openalex.org/W188619141","https://openalex.org/W204815387","https://openalex.org/W1859674185","https://openalex.org/W2051155887","https://openalex.org/W2060045462","https://openalex.org/W2072093554","https://openalex.org/W2093079549","https://openalex.org/W2130408172","https://openalex.org/W6606895719","https://openalex.org/W6608364682","https://openalex.org/W6639236758","https://openalex.org/W6673980800"],"related_works":["https://openalex.org/W2497468103","https://openalex.org/W3147366289","https://openalex.org/W160677519","https://openalex.org/W3207455176","https://openalex.org/W3004732674","https://openalex.org/W2164797156","https://openalex.org/W587013945","https://openalex.org/W2262532587","https://openalex.org/W1999832398","https://openalex.org/W2026558218"],"abstract_inverted_index":{"This":[0,11],"paper":[1,121],"presents":[2],"a":[3,8,46,67,76,88,132],"novel":[4,128],"multicomputer":[5],"type":[6],"with":[7,48],"unique":[9,92],"structure.":[10],"structure":[12],"allows":[13],"decoupling":[14],"angular":[15],"motion":[16,19],"from":[17],"translational":[18],"along":[20,139],"one":[21],"of":[22,30,34,97,104,126,141,146],"the":[23,31,58,62,83,95,98,102,113,123,127,147],"body":[24,32,60,84],"axes,":[25],"and":[26,61,130],"by":[27],"that,":[28],"five":[29,140],"degrees":[33],"freedom":[35],"(DoF)":[36],"can":[37],"be":[38],"controlled":[39],"independently.":[40],"The":[41,69,120,144],"proposed":[42,114],"aerial":[43,99],"vehicle":[44,59,129],"is":[45,71,80],"hexacopter":[47],"six":[49],"propellers,":[50],"such":[51],"that":[52,79],"four":[53],"propellers":[54],"are":[55,149],"attached":[56,65],"to":[57,66,73,87,109,135],"other":[63],"two":[64],"seesaw.":[68],"seesaw":[70],"free":[72],"rotate":[74],"around":[75],"single":[77],"axis":[78],"fixed":[81],"in":[82,112],"frame.":[85],"Compared":[86],"standard":[89],"hexacopter,":[90],"this":[91],"design":[93,115,148],"improves":[94],"maneuverability":[96],"vehicle,":[100],"without":[101],"price":[103],"additional":[105],"actuators.":[106],"As":[107],"opposed":[108],"tilting-rotor":[110],"aerial-vehicle,":[111],"all":[116],"actuators":[117],"generate":[118],"lift.":[119],"describes":[122],"dynamical":[124],"model":[125],"suggests":[131],"nonlinear":[133],"controller":[134],"track":[136],"desired":[137],"trajectories":[138],"its":[142],"DoF.":[143],"performances":[145],"demonstrated":[150],"numerically.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
