{"id":"https://openalex.org/W2414661092","doi":"https://doi.org/10.1109/icra.2016.7487285","title":"Minimum-energy path generation for a quadrotor UAV","display_name":"Minimum-energy path generation for a quadrotor UAV","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2414661092","doi":"https://doi.org/10.1109/icra.2016.7487285","mag":"2414661092"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487285","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487285","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5026787189","display_name":"Fabio Morbidi","orcid":"https://orcid.org/0000-0002-7187-3410"},"institutions":[{"id":"https://openalex.org/I4401200318","display_name":"Mod\u00e9lisation, information et syst\u00e8mes","ror":"https://ror.org/05w9qrp28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4401200318","https://openalex.org/I4647051"]},{"id":"https://openalex.org/I4647051","display_name":"Universit\u00e9 de Picardie Jules Verne","ror":"https://ror.org/01gyxrk03","country_code":"FR","type":"education","lineage":["https://openalex.org/I4647051"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Fabio Morbidi","raw_affiliation_strings":["MIS laboratory, Universit\u00e9 de Picardie Jules Verne, Amiens, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIS laboratory, Universit\u00e9 de Picardie Jules Verne, Amiens, France","institution_ids":["https://openalex.org/I4401200318","https://openalex.org/I4647051"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016738392","display_name":"Roel Cano","orcid":null},"institutions":[{"id":"https://openalex.org/I65481309","display_name":"Autonomous University of Tamaulipas","ror":"https://ror.org/04hhneb29","country_code":"MX","type":"education","lineage":["https://openalex.org/I65481309"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Roel Cano","raw_affiliation_strings":["Posgrado-UAMRR, Universidad Aut\u00f3noma de Tamaulipas, Reynosa Tamps, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Posgrado-UAMRR, Universidad Aut\u00f3noma de Tamaulipas, Reynosa Tamps, Mexico","institution_ids":["https://openalex.org/I65481309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084035385","display_name":"David Lara","orcid":"https://orcid.org/0000-0001-5510-1990"},"institutions":[{"id":"https://openalex.org/I65481309","display_name":"Autonomous University of Tamaulipas","ror":"https://ror.org/04hhneb29","country_code":"MX","type":"education","lineage":["https://openalex.org/I65481309"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"David Lara","raw_affiliation_strings":["Posgrado-UAMRR, Universidad Aut\u00f3noma de Tamaulipas, Reynosa Tamps, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Posgrado-UAMRR, Universidad Aut\u00f3noma de Tamaulipas, Reynosa Tamps, Mexico","institution_ids":["https://openalex.org/I65481309"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":161,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1492","last_page":"1498"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9990000128746033,"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/T12158","display_name":"Guidance and Control Systems","score":0.9990000128746033,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"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":0.9958000183105469,"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/computer-science","display_name":"Computer science","score":0.6000329256057739},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5979330539703369},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5751040577888489},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5487523674964905},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5073804259300232},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4834957420825958},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.4745790958404541},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.44197970628738403},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41723740100860596},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.39955994486808777},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.22974762320518494},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.21218961477279663},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2076444923877716},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18752917647361755},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15999835729599},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14957216382026672},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.14495593309402466}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6000329256057739},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5979330539703369},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5751040577888489},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5487523674964905},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5073804259300232},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4834957420825958},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.4745790958404541},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.44197970628738403},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41723740100860596},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.39955994486808777},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.22974762320518494},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.21218961477279663},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2076444923877716},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18752917647361755},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15999835729599},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14957216382026672},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.14495593309402466},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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":1,"locations":[{"id":"doi:10.1109/icra.2016.7487285","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487285","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W570796597","https://openalex.org/W1562107779","https://openalex.org/W1574514837","https://openalex.org/W1586251222","https://openalex.org/W1603335784","https://openalex.org/W1742619683","https://openalex.org/W1973734421","https://openalex.org/W1978113140","https://openalex.org/W2010002406","https://openalex.org/W2026836521","https://openalex.org/W2027698629","https://openalex.org/W2089908769","https://openalex.org/W2103608534","https://openalex.org/W2137670671","https://openalex.org/W2139452595","https://openalex.org/W2152571083","https://openalex.org/W2183005511","https://openalex.org/W2186850925","https://openalex.org/W2215133879","https://openalex.org/W2320174501","https://openalex.org/W2963343170","https://openalex.org/W3160677759","https://openalex.org/W6616245600","https://openalex.org/W6633599955","https://openalex.org/W6637640797","https://openalex.org/W6675671719","https://openalex.org/W6689295529"],"related_works":["https://openalex.org/W2330407971","https://openalex.org/W4387418068","https://openalex.org/W2091283950","https://openalex.org/W1892002403","https://openalex.org/W2545597438","https://openalex.org/W4309005041","https://openalex.org/W3091635603","https://openalex.org/W2962746246","https://openalex.org/W1968968467","https://openalex.org/W1989531755"],"abstract_inverted_index":{"A":[0],"major":[1],"limitation":[2],"of":[3,22,39,54],"existing":[4],"battery-powered":[5],"quadrotor":[6,41,94],"UAVs":[7],"is":[8,73,87],"their":[9],"reduced":[10],"flight":[11],"endurance.":[12],"To":[13],"address":[14],"this":[15,62],"issue,":[16],"by":[17,42],"leveraging":[18],"the":[19,51,55,65,82,90],"electrical":[20],"model":[21],"a":[23,33,40,59],"brushless":[24],"DC":[25],"motor,":[26],"we":[27],"explicitly":[28],"determine":[29],"minimum-energy":[30],"paths":[31],"between":[32,69],"predefined":[34],"initial":[35],"and":[36],"final":[37],"configuration":[38],"solving":[43],"an":[44],"optimal":[45],"control":[46],"problem":[47],"with":[48],"respect":[49],"to":[50],"angular":[52],"accelerations":[53],"four":[56],"propellers.":[57],"As":[58],"variation":[60],"on":[61],"problem,":[63],"if":[64],"total":[66],"energy":[67],"consumption":[68],"two":[70],"boundary":[71],"states":[72],"fixed,":[74],"minimum-time":[75],"and/or":[76],"minimum-control-effort":[77],"trajectories":[78],"are":[79],"computed":[80],"for":[81,89],"aerial":[83],"vehicle.":[84],"The":[85],"theory":[86],"illustrated":[88],"DJI":[91],"Phantom":[92],"2":[93],"in":[95],"three":[96],"realistic":[97],"scenarios.":[98]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":23},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":32},{"year":2018,"cited_by_count":19},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}