{"id":"https://openalex.org/W1980376051","doi":"https://doi.org/10.1109/icra.2012.6225213","title":"Trajectory generation for swing-free maneuvers of a quadrotor with suspended payload: A dynamic programming approach","display_name":"Trajectory generation for swing-free maneuvers of a quadrotor with suspended payload: A dynamic programming approach","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1980376051","doi":"https://doi.org/10.1109/icra.2012.6225213","mag":"1980376051"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225213","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225213","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/A5089210338","display_name":"Ivana Palunko","orcid":"https://orcid.org/0000-0001-5204-2294"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ivana Palunko","raw_affiliation_strings":["Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA","MARHES Lab, Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, 87131, USA"],"affiliations":[{"raw_affiliation_string":"Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"MARHES Lab, Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, 87131, USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074464769","display_name":"Rafael Fierro","orcid":"https://orcid.org/0000-0002-5574-7246"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rafael Fierro","raw_affiliation_strings":["Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA","MARHES Lab, Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, 87131, USA"],"affiliations":[{"raw_affiliation_string":"Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"MARHES Lab, Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, 87131, USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064145650","display_name":"Patricio J. Cruz","orcid":"https://orcid.org/0000-0003-3026-7980"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patricio Cruz","raw_affiliation_strings":["Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA","MARHES Lab, Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, 87131, USA"],"affiliations":[{"raw_affiliation_string":"Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"MARHES Lab, Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, 87131, USA","institution_ids":["https://openalex.org/I169521973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5089210338"],"corresponding_institution_ids":["https://openalex.org/I169521973"],"apc_list":null,"apc_paid":null,"fwci":24.4711,"has_fulltext":false,"cited_by_count":239,"citation_normalized_percentile":{"value":0.99597677,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2691","last_page":"2697"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9987000226974487,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9987000226974487,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9983000159263611,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9965999722480774,"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/swing","display_name":"Swing","score":0.845786452293396},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7946712970733643},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.7350306510925293},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6717391014099121},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6146076917648315},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5291785597801208},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5108053684234619},{"id":"https://openalex.org/keywords/suspended-load","display_name":"Suspended load","score":0.46890413761138916},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.4631108343601227},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4438393712043762},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3812747001647949},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3805307447910309},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23353680968284607},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11531820893287659},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11104175448417664}],"concepts":[{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.845786452293396},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7946712970733643},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7350306510925293},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6717391014099121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6146076917648315},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5291785597801208},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5108053684234619},{"id":"https://openalex.org/C81121459","wikidata":"https://www.wikidata.org/wiki/Q4110347","display_name":"Suspended load","level":4,"score":0.46890413761138916},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.4631108343601227},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4438393712043762},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3812747001647949},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3805307447910309},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23353680968284607},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11531820893287659},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11104175448417664},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"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/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C65589250","wikidata":"https://www.wikidata.org/wiki/Q7445303","display_name":"Sediment transport","level":3,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C2816523","wikidata":"https://www.wikidata.org/wiki/Q180184","display_name":"Sediment","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","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/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/icra.2012.6225213","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225213","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W324202375","https://openalex.org/W565094624","https://openalex.org/W1543619418","https://openalex.org/W1584896250","https://openalex.org/W1964948050","https://openalex.org/W1997333256","https://openalex.org/W2004665909","https://openalex.org/W2010002406","https://openalex.org/W2012252652","https://openalex.org/W2025796045","https://openalex.org/W2096282629","https://openalex.org/W2098711104","https://openalex.org/W2099987996","https://openalex.org/W2109920799","https://openalex.org/W2121767998","https://openalex.org/W2124996749","https://openalex.org/W2138158112","https://openalex.org/W2141666765","https://openalex.org/W2152401871","https://openalex.org/W2171812353","https://openalex.org/W2172041073","https://openalex.org/W2341171179","https://openalex.org/W2796610752","https://openalex.org/W3175024380","https://openalex.org/W4230504900","https://openalex.org/W6611299009","https://openalex.org/W6657164214","https://openalex.org/W6675080091","https://openalex.org/W6675206532"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2798244654","https://openalex.org/W3168108534","https://openalex.org/W34871393","https://openalex.org/W1486689224","https://openalex.org/W1535080110","https://openalex.org/W2094697992","https://openalex.org/W4229574949","https://openalex.org/W2368813785","https://openalex.org/W4367316808"],"abstract_inverted_index":{"In":[0,66],"this":[1,71,133],"paper,":[2],"we":[3,73],"address":[4],"the":[5,36,55,60,64,90,121,125],"problem":[6,20],"of":[7,12,63,93,132],"agile":[8],"swing-free":[9,83,122],"trajectory":[10,84,123],"tracking":[11],"a":[13,16,42,47,75,94,113,128],"quadrotor":[14,95,126],"with":[15,41,70,96],"suspended":[17,43,56,97,129],"load.":[18,130],"This":[19],"has":[21,31],"great":[22],"practical":[23],"significance":[24],"in":[25,35],"many":[26],"UAV":[27],"applications.":[28],"However,":[29],"it":[30],"received":[32],"little":[33],"attention":[34],"literature":[37],"so":[38],"far.":[39],"Flying":[40],"load":[44,57,98],"can":[45],"be":[46],"very":[48],"challenging":[49],"and":[50,100,111,140],"sometimes":[51],"hazardous":[52],"task":[53],"as":[54],"significantly":[58],"alters":[59],"flight":[61],"characteristics":[62],"quadrotor.":[65],"order":[67],"to":[68,107,119],"deal":[69],"problem,":[72],"propose":[74],"technique":[76],"based":[77],"on":[78],"dynamic":[79,114],"programming":[80,115],"which":[81],"ensures":[82],"tracking.":[85],"We":[86],"start":[87],"by":[88,137],"presenting":[89],"mathematical":[91],"model":[92],"dynamics":[99],"kinematics.":[101],"A":[102],"high-level":[103],"planner":[104],"is":[105,117,135],"used":[106,118],"provide":[108],"desired":[109],"waypoints,":[110],"then":[112],"approach":[116],"generate":[120],"for":[124],"carrying":[127],"Effectiveness":[131],"method":[134],"demonstrated":[136],"numerical":[138],"simulations":[139],"experiments.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":23},{"year":2019,"cited_by_count":34},{"year":2018,"cited_by_count":21},{"year":2017,"cited_by_count":24},{"year":2016,"cited_by_count":17},{"year":2015,"cited_by_count":19},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":13},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T08:04:53.788161","created_date":"2025-10-10T00:00:00"}