{"id":"https://openalex.org/W2059206273","doi":"https://doi.org/10.1109/icra.2014.6907087","title":"Learning quadrotor maneuvers from optimal control and generalizing in real-time","display_name":"Learning quadrotor maneuvers from optimal control and generalizing in real-time","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2059206273","doi":"https://doi.org/10.1109/icra.2014.6907087","mag":"2059206273"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907087","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907087","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1438603","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042468316","display_name":"Teodor Tomi\u0107","orcid":"https://orcid.org/0000-0002-8460-7568"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Teodor Tomic","raw_affiliation_strings":["German Aerospace Center (DLR) Robotics, Mechatronics Center (RMC), Germany","German Aerospace Center (DLR) Robotics and Mechatronics Center (RMC), M\u00fcnchener Stra\u00dfe 20, 82234 We\u00dfling, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR) Robotics, Mechatronics Center (RMC), Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerospace Center (DLR) Robotics and Mechatronics Center (RMC), M\u00fcnchener Stra\u00dfe 20, 82234 We\u00dfling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003735556","display_name":"Moritz Maier","orcid":"https://orcid.org/0000-0002-3447-7611"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Moritz Maier","raw_affiliation_strings":["German Aerospace Center (DLR) Robotics, Mechatronics Center (RMC), Germany","German Aerospace Center (DLR) Robotics and Mechatronics Center (RMC), M\u00fcnchener Stra\u00dfe 20, 82234 We\u00dfling, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR) Robotics, Mechatronics Center (RMC), Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerospace Center (DLR) Robotics and Mechatronics Center (RMC), M\u00fcnchener Stra\u00dfe 20, 82234 We\u00dfling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Institute of Automatic Control, Leibniz University Hanover (LUH), Hanover, Germany","German Aerospace Center (DLR) Robotics and Mechatronics Center (RMC), M\u00fcnchener Stra\u00dfe 20, 82234 We\u00dfling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, Leibniz University Hanover (LUH), Hanover, Germany","institution_ids":["https://openalex.org/I114112103"]},{"raw_affiliation_string":"German Aerospace Center (DLR) Robotics and Mechatronics Center (RMC), M\u00fcnchener Stra\u00dfe 20, 82234 We\u00dfling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5042468316"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":1.7293,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.87746144,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1747","last_page":"1754"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9987999796867371,"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":0.9973999857902527,"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/generalization","display_name":"Generalization","score":0.8842548727989197},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6784420013427734},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.6625257134437561},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6158241033554077},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5843654274940491},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4968750774860382},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4851682782173157},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45770028233528137},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3838514983654022},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34052589535713196},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2034984827041626}],"concepts":[{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.8842548727989197},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6784420013427734},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6625257134437561},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6158241033554077},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5843654274940491},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4968750774860382},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4851682782173157},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45770028233528137},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3838514983654022},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34052589535713196},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2034984827041626},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2014.6907087","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907087","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:90227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907087>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1438603","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1438603","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1438603","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1438603","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W48920821","https://openalex.org/W130216483","https://openalex.org/W157454455","https://openalex.org/W1969160376","https://openalex.org/W1981677383","https://openalex.org/W1982803779","https://openalex.org/W2008277209","https://openalex.org/W2010953845","https://openalex.org/W2011907571","https://openalex.org/W2016765487","https://openalex.org/W2017977027","https://openalex.org/W2041812416","https://openalex.org/W2050145531","https://openalex.org/W2060794637","https://openalex.org/W2074274296","https://openalex.org/W2083999641","https://openalex.org/W2088563571","https://openalex.org/W2100720865","https://openalex.org/W2105080564","https://openalex.org/W2110304639","https://openalex.org/W2110496175","https://openalex.org/W2129999383","https://openalex.org/W2130153793","https://openalex.org/W2139464928","https://openalex.org/W2161395589","https://openalex.org/W2162991084","https://openalex.org/W2163967757","https://openalex.org/W2474375319","https://openalex.org/W3144742656","https://openalex.org/W4249543069","https://openalex.org/W6605307179","https://openalex.org/W6606411100","https://openalex.org/W6652361965","https://openalex.org/W6720721565"],"related_works":["https://openalex.org/W2186864281","https://openalex.org/W3162204513","https://openalex.org/W4255427455","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W2371138613","https://openalex.org/W1966025497","https://openalex.org/W4360995134"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4,69],"a":[5,29],"method":[6,60,85],"for":[7,14,49,61],"learning":[8],"and":[9,40,55,74,91,96],"online":[10],"generalization":[11,51],"of":[12,77,82],"maneuvers":[13,18,93],"quadrotor-type":[15],"vehicles.":[16],"The":[17,35,80],"are":[19,26,37],"formulated":[20],"as":[21],"optimal":[22,32],"control":[23,33],"problems,":[24],"which":[25],"solved":[27],"using":[28,88],"general":[30],"purpose":[31],"solver.":[34],"solutions":[36],"then":[38],"encoded":[39],"generalized":[41,64],"with":[42],"Dynamic":[43],"Movement":[44],"Primitives":[45],"(DMPs).":[46],"This":[47],"allows":[48],"real-time":[50],"to":[52],"new":[53],"goals":[54],"in-flight":[56],"modifications.":[57],"An":[58],"effective":[59],"joining":[62],"the":[63,70,78,83],"trajectories":[65],"is":[66,86],"implemented.":[67],"We":[68],"necessary":[71],"theoretical":[72],"background":[73],"error":[75],"analysis":[76],"generalization.":[79],"effectiveness":[81],"proposed":[84],"showcased":[87],"planar":[89],"point-to-point":[90],"perching":[92],"in":[94],"simulation":[95],"experiment.":[97]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}