{"id":"https://openalex.org/W2007726556","doi":"https://doi.org/10.1109/icra.2012.6225035","title":"Learning-based model predictive control on a quadrotor: Onboard implementation and experimental results","display_name":"Learning-based model predictive control on a quadrotor: Onboard implementation and experimental results","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2007726556","doi":"https://doi.org/10.1109/icra.2012.6225035","mag":"2007726556"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225035","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5039415559","display_name":"Patrick Bouffard","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Patrick Bouffard","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","[Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA]","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014893911","display_name":"Anil Aswani","orcid":"https://orcid.org/0000-0001-5777-7185"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anil Aswani","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","[Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA]","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claire Tomlin","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","[Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"[Dept. of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA]","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5039415559"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":15.3102,"has_fulltext":false,"cited_by_count":173,"citation_normalized_percentile":{"value":0.98974488,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"279","last_page":"284"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"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/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"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/T11236","display_name":"Control Systems and Identification","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/T10876","display_name":"Fault Detection and Control Systems","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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.827103853225708},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7047059535980225},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.638421893119812},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5646014213562012},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4729204773902893},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4492291212081909},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37285947799682617},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2563450038433075},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24862411618232727}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.827103853225708},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7047059535980225},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.638421893119812},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5646014213562012},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4729204773902893},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4492291212081909},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37285947799682617},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2563450038433075},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24862411618232727},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6225035","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225035","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.307.8108","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.307.8108","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.eecs.berkeley.edu/~aaswani/icra_lbmpc_2012.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W130083205","https://openalex.org/W1534332639","https://openalex.org/W1968359621","https://openalex.org/W1968418665","https://openalex.org/W1981364618","https://openalex.org/W1983864916","https://openalex.org/W1998534269","https://openalex.org/W2006804034","https://openalex.org/W2006859604","https://openalex.org/W2012807278","https://openalex.org/W2037450006","https://openalex.org/W2047993072","https://openalex.org/W2065894019","https://openalex.org/W2084166574","https://openalex.org/W2095233962","https://openalex.org/W2096337642","https://openalex.org/W2098536261","https://openalex.org/W2100538121","https://openalex.org/W2103608534","https://openalex.org/W2116773335","https://openalex.org/W2127192854","https://openalex.org/W2134491302","https://openalex.org/W2139349757","https://openalex.org/W2144636911","https://openalex.org/W2156963939","https://openalex.org/W2158025740","https://openalex.org/W2159786429","https://openalex.org/W2165771902","https://openalex.org/W2171461698","https://openalex.org/W2509493982","https://openalex.org/W2623785075","https://openalex.org/W2901136733","https://openalex.org/W3146603598","https://openalex.org/W4300447933","https://openalex.org/W6724925041","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W4388311650","https://openalex.org/W5922282","https://openalex.org/W2101188133","https://openalex.org/W1974056099","https://openalex.org/W4245343541","https://openalex.org/W2386077341","https://openalex.org/W563589758","https://openalex.org/W62490179"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,69],"present":[4],"details":[5],"of":[6,15,32,73],"the":[7,71],"real":[8],"time":[9],"implementation":[10],"onboard":[11],"a":[12,56,86,91],"quadrotor":[13,81],"helicopter":[14],"learning-based":[16],"model":[17],"predictive":[18],"control":[19,27],"(LBMPC).":[20],"LBMPC":[21,43,58,74],"rigorously":[22],"combines":[23],"statistical":[24],"learning":[25],"with":[26,89],"engineering,":[28],"while":[29],"providing":[30],"levels":[31],"guarantees":[33],"about":[34],"safety,":[35],"robustness,":[36],"and":[37,53],"convergence.":[38],"Experimental":[39],"results":[40],"show":[41,70],"that":[42],"can":[44],"learn":[45],"physically":[46],"based":[47],"updates":[48],"to":[49,66,84],"an":[50,76,90],"initial":[51],"model,":[52],"how":[54],"as":[55],"result":[57],"improves":[59],"transient":[60],"response":[61],"performance.":[62],"We":[63],"demonstrate":[64],"robustness":[65],"mis-learning.":[67],"Finally,":[68],"use":[72],"in":[75],"integrated":[77],"robotic":[78],"task":[79],"demonstration-The":[80],"is":[82],"used":[83],"catch":[85],"ball":[87],"thrown":[88],"priori":[92],"unknown":[93],"trajectory.":[94]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":23},{"year":2020,"cited_by_count":18},{"year":2019,"cited_by_count":20},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":17},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
