{"id":"https://openalex.org/W4406208394","doi":"https://doi.org/10.1109/icarcv63323.2024.10821610","title":"Lightweight Dynamics Model Based Whole Body Motion Control for Aerial Manipulator","display_name":"Lightweight Dynamics Model Based Whole Body Motion Control for Aerial Manipulator","publication_year":2024,"publication_date":"2024-12-12","ids":{"openalex":"https://openalex.org/W4406208394","doi":"https://doi.org/10.1109/icarcv63323.2024.10821610"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv63323.2024.10821610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv63323.2024.10821610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 18th 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/A5100576641","display_name":"Zhenting Wen","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhenting Wen","raw_affiliation_strings":["School of Automation, Guangdong University of Technology,Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Guangdong University of Technology,Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047530145","display_name":"Mingxi Chen","orcid":"https://orcid.org/0000-0002-6620-8889"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingxi Chen","raw_affiliation_strings":["School of Automation, Guangdong University of Technology,Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Guangdong University of Technology,Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100377152","display_name":"Meng Wei","orcid":"https://orcid.org/0000-0002-3515-2384"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Meng","raw_affiliation_strings":["School of Automation, Guangdong University of Technology,Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Guangdong University of Technology,Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100576641"],"corresponding_institution_ids":["https://openalex.org/I139024713"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23580822,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"736","last_page":"738"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9836999773979187,"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":0.9836999773979187,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9828000068664551,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9595999717712402,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.721362292766571},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6338988542556763},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6028699278831482},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5885538458824158},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5229395627975464},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.4884873628616333},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3806276321411133},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3607966899871826},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33858397603034973},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.238255113363266},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23792004585266113},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23169571161270142},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19673320651054382},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10264846682548523}],"concepts":[{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.721362292766571},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6338988542556763},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6028699278831482},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5885538458824158},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5229395627975464},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.4884873628616333},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3806276321411133},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3607966899871826},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33858397603034973},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.238255113363266},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23792004585266113},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23169571161270142},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19673320651054382},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10264846682548523},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv63323.2024.10821610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv63323.2024.10821610","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 18th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2724940914","https://openalex.org/W2794308024","https://openalex.org/W2904009101","https://openalex.org/W3090676277","https://openalex.org/W3156330606","https://openalex.org/W3167458237","https://openalex.org/W3189042648","https://openalex.org/W3207333935","https://openalex.org/W4229076292","https://openalex.org/W4361760859","https://openalex.org/W4394966879"],"related_works":["https://openalex.org/W4234825356","https://openalex.org/W2695075568","https://openalex.org/W4361186078","https://openalex.org/W2331363374","https://openalex.org/W1929120455","https://openalex.org/W2329712830","https://openalex.org/W2724068543","https://openalex.org/W1995224181","https://openalex.org/W2753556613","https://openalex.org/W577644862"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"the":[3,46,59,69,74,79],"motion":[4],"control":[5,26,44],"problem":[6],"of":[7,13,30,73],"an":[8,36],"aerial":[9],"manipulator":[10],"that":[11,28,68],"consists":[12,29],"a":[14,19,24,31,54],"quad":[15],"copter":[16],"base":[17],"and":[18,35],"robotic":[20],"arm.":[21],"We":[22],"propose":[23],"novel":[25],"method":[27,50],"lightweight":[32],"dynamic":[33],"model":[34],"MPC-based":[37],"trajectory":[38],"converter":[39],"to":[40],"perform":[41],"accurate":[42],"tracking":[43],"for":[45],"end-effector.":[47],"The":[48,64],"proposed":[49,80],"is":[51,76],"verified":[52],"by":[53,78],"step":[55],"response":[56],"experiment":[57,65],"on":[58],"GAZEBO":[60],"dynamics":[61],"simulation":[62],"platform.":[63],"results":[66],"show":[67],"angular":[70],"velocity":[71],"disturbance":[72],"end-effector":[75],"suppressed":[77],"method.":[81]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}