{"id":"https://openalex.org/W2416404822","doi":"https://doi.org/10.1109/icra.2016.7487461","title":"From tracking to robust maneuver regulation: An easy-to-design approach for VTOL aerial robots","display_name":"From tracking to robust maneuver regulation: An easy-to-design approach for VTOL aerial robots","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2416404822","doi":"https://doi.org/10.1109/icra.2016.7487461","mag":"2416404822"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487461","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487461","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":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11585/671997","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051343298","display_name":"Sara Spedicato","orcid":"https://orcid.org/0000-0003-4720-4898"},"institutions":[{"id":"https://openalex.org/I142910587","display_name":"University of Salento","ror":"https://ror.org/03fc1k060","country_code":"IT","type":"education","lineage":["https://openalex.org/I142910587"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Sara Spedicato","raw_affiliation_strings":["Department of Engineering, Universit\u00e1 del Salento, Lecce, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, Universit\u00e1 del Salento, Lecce, Italy","institution_ids":["https://openalex.org/I142910587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001771133","display_name":"Antonio Franchi","orcid":"https://orcid.org/0000-0002-5670-1282"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antonio Franchi","raw_affiliation_strings":["CNRS, LAAS, Toulouse, France","Univ de Toulouse, LAAS, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"CNRS, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I190497903","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Univ de Toulouse, LAAS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017893179","display_name":"Giuseppe Notarstefano","orcid":"https://orcid.org/0000-0002-0906-7848"},"institutions":[{"id":"https://openalex.org/I142910587","display_name":"University of Salento","ror":"https://ror.org/03fc1k060","country_code":"IT","type":"education","lineage":["https://openalex.org/I142910587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Notarstefano","raw_affiliation_strings":["Department of Engineering, Universit\u00e1 del Salento, Lecce, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, Universit\u00e1 del Salento, Lecce, Italy","institution_ids":["https://openalex.org/I142910587"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5051343298"],"corresponding_institution_ids":["https://openalex.org/I142910587"],"apc_list":null,"apc_paid":null,"fwci":0.8096,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.74415954,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"33","issue":null,"first_page":"2965","last_page":"2970"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9973000288009644,"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":0.8703557252883911},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7771700620651245},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.6327757835388184},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.580952525138855},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5423624515533447},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5131281018257141},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.44041943550109863},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4318237900733948},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4106394946575165},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38436588644981384},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2734358608722687},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24983546137809753},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.19534361362457275},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13863274455070496},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12159273028373718},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09144529700279236},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05647677183151245}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8703557252883911},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7771700620651245},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.6327757835388184},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.580952525138855},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5423624515533447},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5131281018257141},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.44041943550109863},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4318237900733948},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4106394946575165},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38436588644981384},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2734358608722687},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24983546137809753},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.19534361362457275},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13863274455070496},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12159273028373718},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09144529700279236},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05647677183151245},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2016.7487461","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487461","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"},{"id":"pmh:oai:cris.unibo.it:11585/671997","is_oa":true,"landing_page_url":"http://hdl.handle.net/11585/671997","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"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":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:cris.unibo.it:11585/671997","is_oa":true,"landing_page_url":"http://hdl.handle.net/11585/671997","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"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":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4956428346","display_name":null,"funder_award_id":"Horizon 2020 research and innovatio","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5624658906","display_name":"Distributed Optimization Methods for Smart Cyber-Physical Networks","funder_award_id":"638992","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G673690519","display_name":null,"funder_award_id":"644271","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8318064016","display_name":null,"funder_award_id":"Horizon","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W194336506","https://openalex.org/W1608271813","https://openalex.org/W1827391771","https://openalex.org/W1907340149","https://openalex.org/W1963840845","https://openalex.org/W1964342070","https://openalex.org/W1988444843","https://openalex.org/W1996454263","https://openalex.org/W2009991532","https://openalex.org/W2013064525","https://openalex.org/W2075963508","https://openalex.org/W2077521741","https://openalex.org/W2091646839","https://openalex.org/W2103641605","https://openalex.org/W2134069001","https://openalex.org/W2167985616","https://openalex.org/W2170054904","https://openalex.org/W2544041682","https://openalex.org/W2621384974","https://openalex.org/W6636441628","https://openalex.org/W6669263836","https://openalex.org/W6684838624","https://openalex.org/W6739108613"],"related_works":["https://openalex.org/W1667647204","https://openalex.org/W2404647514","https://openalex.org/W4247536566","https://openalex.org/W2018477250","https://openalex.org/W3119814709","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"In":[0,60,140],"this":[1,61],"paper":[2,62],"we":[3,63,142],"present":[4],"a":[5,42,50,56,66,138,145],"maneuver":[6,24,68,107,147,165],"regulation":[7,25,69,166],"scheme":[8,130],"for":[9],"Vertical":[10],"Take-Off":[11],"and":[12,109,131],"Landing":[13],"(VTOL)":[14],"micro":[15],"aerial":[16],"vehicles":[17],"(MAV).":[18],"Differently":[19],"from":[20],"standard":[21,159],"trajectory":[22],"tracking,":[23,160],"has":[26,85],"an":[27,77],"intrinsic":[28],"robustness":[29,95],"due":[30],"to":[31,40,47,119],"the":[32,35,94,98,103,120,125,128,153,158,164],"fact":[33],"that":[34],"vehicle":[36],"is":[37],"not":[38,112],"required":[39],"chase":[41],"virtual":[43],"target,":[44],"but":[45],"just":[46],"stay":[48],"on":[49,137,144,152],"(properly":[51],"designed)":[52],"desired":[53],"path":[54],"with":[55,117],"given":[57],"velocity":[58],"profile.":[59],"show":[64,132,143],"how":[65,148],"robust":[67],"controller":[70,84],"can":[71],"be":[72],"easily":[73],"designed":[74],"by":[75],"converting":[76],"existing":[78],"tracking":[79,99,121],"scheme.":[80,167],"The":[81],"resulting":[82],"maneuvering":[83],"three":[86],"main":[87],"appealing":[88,104],"features,":[89],"namely":[90],"it:":[91],"(i)":[92],"inherits":[93],"properties":[96],"of":[97,106,127],"controller,":[100],"(ii)":[101],"gains":[102],"features":[105],"regulation,":[108],"(iii)":[110],"does":[111],"need":[113],"any":[114],"additional":[115],"tuning":[116],"respect":[118],"controller.":[122],"We":[123],"prove":[124],"correctness":[126],"proposed":[129],"its":[133],"effectiveness":[134],"in":[135,157],"experiments":[136],"nano-quadrotor.":[139],"particular,":[141],"nontrivial":[146],"external":[149],"disturbances":[150],"acting":[151],"quadrotor":[154],"cause":[155],"instabilities":[156],"while":[161],"marginally":[162],"affect":[163]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-04-13T07:58:08.660418","created_date":"2016-06-24T00:00:00"}
