{"id":"https://openalex.org/W1996033625","doi":"https://doi.org/10.1109/icra.2012.6225361","title":"Region of attraction estimation for a perching aircraft: A Lyapunov method exploiting barrier certificates","display_name":"Region of attraction estimation for a perching aircraft: A Lyapunov method exploiting barrier certificates","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1996033625","doi":"https://doi.org/10.1109/icra.2012.6225361","mag":"1996033625"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225361","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/A5045866597","display_name":"Elena L. Glassman","orcid":"https://orcid.org/0000-0001-5178-3496"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Elena Glassman","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory (CSAIL), MIT, Cambridge, MA, USA","Computer Science and Artificial Intelligence Lab (CSAIL), MIT, Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), MIT, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Lab (CSAIL), MIT, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055473599","display_name":"Alexis Lussier Desbiens","orcid":"https://orcid.org/0000-0001-9193-7111"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexis Lussier Desbiens","raw_affiliation_strings":["Biomimetics and Dextrous Manipulation Laboratory (BDML), University of Stanford, Stanford, CA, USA","Biomimetics and Dextrous Manipulation Laboratory (BDML), Stanford University, CA 94303, USA"],"affiliations":[{"raw_affiliation_string":"Biomimetics and Dextrous Manipulation Laboratory (BDML), University of Stanford, Stanford, CA, USA","institution_ids":[]},{"raw_affiliation_string":"Biomimetics and Dextrous Manipulation Laboratory (BDML), Stanford University, CA 94303, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075242960","display_name":"Mark M. Tobenkin","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Tobenkin","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory (CSAIL), MIT, Cambridge, MA, USA","Computer Science and Artificial Intelligence Lab (CSAIL), MIT, Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), MIT, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Lab (CSAIL), MIT, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046683404","display_name":"Mark R. Cutkosky","orcid":"https://orcid.org/0000-0003-4730-0900"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Cutkosky","raw_affiliation_strings":["Biomimetics and Dextrous Manipulation Laboratory (BDML), University of Stanford, Stanford, CA, USA","Biomimetics and Dextrous Manipulation Laboratory (BDML), Stanford University, CA 94303, USA"],"affiliations":[{"raw_affiliation_string":"Biomimetics and Dextrous Manipulation Laboratory (BDML), University of Stanford, Stanford, CA, USA","institution_ids":[]},{"raw_affiliation_string":"Biomimetics and Dextrous Manipulation Laboratory (BDML), Stanford University, CA 94303, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074291890","display_name":"Russ Tedrake","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Russ Tedrake","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory (CSAIL), MIT, Cambridge, MA, USA","Computer Science and Artificial Intelligence Lab (CSAIL), MIT, Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory (CSAIL), MIT, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Lab (CSAIL), MIT, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5045866597"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":89.6222,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.99742218,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2235","last_page":"2242"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11206","display_name":"Model Reduction and Neural Networks","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/funnel","display_name":"Funnel","score":0.7834323644638062},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6690162420272827},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6125321984291077},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5600254535675049},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4732430875301361},{"id":"https://openalex.org/keywords/attraction","display_name":"Attraction","score":0.45772868394851685},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2441067099571228},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1379745602607727},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13707047700881958},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11376515030860901},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10766717791557312},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09114572405815125}],"concepts":[{"id":"https://openalex.org/C17435862","wikidata":"https://www.wikidata.org/wiki/Q29957","display_name":"Funnel","level":2,"score":0.7834323644638062},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6690162420272827},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6125321984291077},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5600254535675049},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4732430875301361},{"id":"https://openalex.org/C2778364177","wikidata":"https://www.wikidata.org/wiki/Q2247133","display_name":"Attraction","level":2,"score":0.45772868394851685},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2441067099571228},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1379745602607727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13707047700881958},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11376515030860901},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10766717791557312},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09114572405815125},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6225361","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225361","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:10.1.1.651.1130","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.651.1130","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://people.csail.mit.edu/elg/papers/perchingROA.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320333566","display_name":"National Defense Science and Engineering Graduate","ror":null},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W193316825","https://openalex.org/W1552156296","https://openalex.org/W1557098279","https://openalex.org/W1589614845","https://openalex.org/W1967073510","https://openalex.org/W1967184028","https://openalex.org/W1977103166","https://openalex.org/W2033118636","https://openalex.org/W2049751180","https://openalex.org/W2051266746","https://openalex.org/W2074686910","https://openalex.org/W2114924842","https://openalex.org/W2116586985","https://openalex.org/W2133404041","https://openalex.org/W2165359289","https://openalex.org/W2166377112","https://openalex.org/W2167019375","https://openalex.org/W2182510773","https://openalex.org/W2296356821","https://openalex.org/W2312644716","https://openalex.org/W2536620281","https://openalex.org/W2911767922","https://openalex.org/W6697528359"],"related_works":["https://openalex.org/W2073875810","https://openalex.org/W2356551568","https://openalex.org/W2081113335","https://openalex.org/W2358635018","https://openalex.org/W4242602405","https://openalex.org/W2364686644","https://openalex.org/W2889922688","https://openalex.org/W2534107666","https://openalex.org/W2117933783","https://openalex.org/W2560479139"],"abstract_inverted_index":{"Dynamic":[0],"perching":[1,15,83,136],"maneuvers":[2],"for":[3,29,72,120,134],"fixed-wing":[4],"aircraft":[5],"are":[6],"becoming":[7],"increasingly":[8],"plausible":[9],"due":[10],"to":[11,110],"recent":[12],"progress":[13],"in":[14,66],"using":[16,95],"`micro-spines'":[17],"mounted":[18],"on":[19,24,128],"tuned":[20],"suspensions":[21],"and,":[22],"separately,":[23],"feedback":[25,68],"motion":[26,69],"planning":[27,70],"techniques":[28,39],"post-stall":[30],"maneuvering.":[31],"In":[32],"this":[33],"paper,":[34],"we":[35],"bring":[36],"these":[37],"complementary":[38],"together":[40],"by":[41],"efficiently":[42],"estimating":[43],"the":[44,48,58,73,82,90,106,115,121,125,135],"mechanical":[45,144],"stability":[46],"of":[47,81,89,92,102,114,118,131],"plane":[49],"when":[50],"it":[51],"makes":[52],"contact":[53],"with":[54,105],"a":[55,67,78,129,139,143],"vertical":[56],"surface;":[57],"resulting":[59],"landing":[60],"funnel":[61],"can":[62],"then":[63],"be":[64],"used":[65],"algorithm":[71],"flight":[74],"controller.":[75],"We":[76,123],"consider":[77],"simplified":[79],"model":[80],"dynamics":[84],"and":[85],"report":[86],"an":[87],"extension":[88],"region":[91,117],"attraction":[93,119],"techniques,":[94],"sums-of-squares":[96],"optimization,":[97],"which":[98],"combines":[99],"polynomial":[100],"approximations":[101],"barrier":[103],"constraints":[104],"traditional":[107],"Lyapunov":[108],"methods":[109],"achieve":[111],"tight":[112],"estimation":[113],"true":[116],"model.":[122],"demonstrate":[124],"new":[126],"method":[127],"variety":[130],"design":[132,148],"parameters":[133],"system,":[137],"suggesting":[138],"potential":[140],"use":[141],"as":[142],"system":[145],"or":[146],"controller":[147],"tool.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
