{"id":"https://openalex.org/W2891781757","doi":"https://doi.org/10.1109/icra.2018.8460742","title":"Cooperative Object Transport in 3D with Multiple Quadrotors Using No Peer Communication","display_name":"Cooperative Object Transport in 3D with Multiple Quadrotors Using No Peer Communication","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2891781757","doi":"https://doi.org/10.1109/icra.2018.8460742","mag":"2891781757"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460742","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","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/A5100371700","display_name":"Zijian Wang","orcid":"https://orcid.org/0000-0001-9402-8423"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"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":"Zijian Wang","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101898346","display_name":"Sumeet Singh","orcid":"https://orcid.org/0000-0003-4510-5853"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"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":"Sumeet Singh","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050003000","display_name":"Marco Pavone","orcid":"https://orcid.org/0000-0002-0206-4337"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"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":"Marco Pavone","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081950488","display_name":"Mac Schwager","orcid":"https://orcid.org/0000-0002-7871-3663"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"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":"Mac Schwager","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.7552,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.93777765,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1064","last_page":"1071"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"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/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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9961000084877014,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.8957867622375488},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6869466304779053},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.6659280061721802},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6622030138969421},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6350175142288208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6061749458312988},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5733105540275574},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.561333417892456},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5217514634132385},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46886733174324036},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.45122450590133667},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.42179277539253235},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.408562034368515},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.354865700006485},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19319629669189453},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1868269145488739},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10403221845626831}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.8957867622375488},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6869466304779053},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.6659280061721802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6622030138969421},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6350175142288208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6061749458312988},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5733105540275574},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.561333417892456},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5217514634132385},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46886733174324036},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.45122450590133667},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.42179277539253235},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.408562034368515},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.354865700006485},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19319629669189453},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1868269145488739},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10403221845626831},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/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},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"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":1,"locations":[{"id":"doi:10.1109/icra.2018.8460742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460742","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W306312984","https://openalex.org/W1502151758","https://openalex.org/W1552319742","https://openalex.org/W1594126539","https://openalex.org/W1864112212","https://openalex.org/W2012252652","https://openalex.org/W2040465572","https://openalex.org/W2054381558","https://openalex.org/W2058475458","https://openalex.org/W2081326455","https://openalex.org/W2181845023","https://openalex.org/W2418601359","https://openalex.org/W2482392012","https://openalex.org/W2524437357","https://openalex.org/W2530312297","https://openalex.org/W2560781825","https://openalex.org/W2571516894","https://openalex.org/W2585814306","https://openalex.org/W2598004827","https://openalex.org/W2734983659","https://openalex.org/W2744979297","https://openalex.org/W2790956722","https://openalex.org/W2890159875","https://openalex.org/W6665313151","https://openalex.org/W6731875106","https://openalex.org/W6741354366","https://openalex.org/W6749153223"],"related_works":["https://openalex.org/W3114548899","https://openalex.org/W2067759762","https://openalex.org/W4205162136","https://openalex.org/W4245224694","https://openalex.org/W2036697162","https://openalex.org/W2332386680","https://openalex.org/W2561315646","https://openalex.org/W2248621902","https://openalex.org/W2003779889","https://openalex.org/W813487984"],"abstract_inverted_index":{"We":[0,72,133],"present":[1],"a":[2,6,19,30,44,56,81,144,148],"framework":[3],"to":[4,14,60,85,152],"enable":[5],"fleet":[7],"of":[8,77,121,155],"rigidly":[9],"attached":[10],"quadrotor":[11,53],"aerial":[12],"robots":[13],"transport":[15],"heavy":[16,145],"objects":[17],"along":[18],"known":[20],"reference":[21],"trajectory":[22,127],"without":[23],"inter-robot":[24],"communication":[25],"or":[26],"centralized":[27],"coordination.":[28],"Leveraging":[29],"distributed":[31,82],"wrench":[32,119],"controller,":[33],"we":[34,107],"provide":[35],"exponential":[36],"stability":[37],"guarantees":[38,96],"for":[39,104],"the":[40,62,70,75,78,92,111,117,159],"entire":[41],"assembly,":[42],"under":[43,129],"mild":[45],"geometric":[46],"condition.":[47],"This":[48],"is":[49],"achieved":[50],"by":[51],"each":[52,67,122],"independently":[54],"solving":[55],"local":[57],"optimization":[58,128],"problem":[59],"counteract":[61],"biased":[63],"torque":[64],"effects":[65],"from":[66],"robot":[68],"in":[69,138,147],"assembly.":[71],"rigorously":[73],"analyze":[74],"controllability":[76],"object,":[79],"design":[80],"compensation":[83],"scheme":[84],"address":[86],"these":[87,130],"challenges,":[88],"and":[89,124,157],"show":[90],"that":[91],"resulting":[93],"strategy":[94],"collectively":[95],"full":[97],"group":[98],"control":[99,114],"authority.":[100],"To":[101],"ensure":[102],"feasibility":[103],"online":[105],"implementation,":[106],"derive":[108],"bounds":[109],"on":[110],"net":[112],"desired":[113],"wrench,":[115],"characterize":[116],"output":[118],"space":[120],"quadrotor,":[123],"perform":[125],"subsequent":[126],"input":[131],"constraints.":[132],"thoroughly":[134],"validate":[135],"our":[136],"method":[137],"simulation":[139],"with":[140],"eight":[141],"quadrotors":[142],"transporting":[143],"object":[146],"cluttered":[149],"environment":[150],"subject":[151],"various":[153],"sources":[154],"uncertainty,":[156],"demonstrate":[158],"algorithm's":[160],"resilience.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}