{"id":"https://openalex.org/W2954687219","doi":"https://doi.org/10.1109/icra.2019.8794274","title":"Online Estimation of Geometric and Inertia Parameters for Multirotor Aerial Vehicles","display_name":"Online Estimation of Geometric and Inertia Parameters for Multirotor Aerial Vehicles","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2954687219","doi":"https://doi.org/10.1109/icra.2019.8794274","mag":"2954687219"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794274","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5061776545","display_name":"Valentin W\u00fcest","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Valentin Wuest","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, 3330 Walnut Street, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, 3330 Walnut Street, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, 3330 Walnut Street, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, 3330 Walnut Street, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077485450","display_name":"Giuseppe Loianno","orcid":"https://orcid.org/0000-0002-3263-5401"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Giuseppe Loianno","raw_affiliation_strings":["Tandon School of Engineering, New York University, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"Tandon School of Engineering, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5061776545"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":8.3306,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.97335039,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1884","last_page":"1890"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9994999766349792,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/multirotor","display_name":"Multirotor","score":0.9783775806427002},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.7761416435241699},{"id":"https://openalex.org/keywords/moment-of-inertia","display_name":"Moment of inertia","score":0.6113674640655518},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6033077836036682},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5881972312927246},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5842151045799255},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5418305397033691},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5096862316131592},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48535171151161194},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4684688448905945},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.43993228673934937},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41960710287094116},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3684605360031128},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35303232073783875},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.2705208659172058},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26062923669815063},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14298927783966064},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14133277535438538},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08770617842674255}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.9783775806427002},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.7761416435241699},{"id":"https://openalex.org/C10238366","wikidata":"https://www.wikidata.org/wiki/Q165618","display_name":"Moment of inertia","level":2,"score":0.6113674640655518},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6033077836036682},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5881972312927246},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5842151045799255},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5418305397033691},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5096862316131592},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48535171151161194},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4684688448905945},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.43993228673934937},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41960710287094116},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3684605360031128},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35303232073783875},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.2705208659172058},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26062923669815063},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14298927783966064},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14133277535438538},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08770617842674255},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8794274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794274","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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":25,"referenced_works":["https://openalex.org/W6183866","https://openalex.org/W1498041548","https://openalex.org/W1516539966","https://openalex.org/W1559536185","https://openalex.org/W1968917201","https://openalex.org/W1981277868","https://openalex.org/W1990101796","https://openalex.org/W2008793719","https://openalex.org/W2060794637","https://openalex.org/W2086325065","https://openalex.org/W2121754060","https://openalex.org/W2140998418","https://openalex.org/W2147536420","https://openalex.org/W2184803328","https://openalex.org/W2197847098","https://openalex.org/W2294713796","https://openalex.org/W2336416123","https://openalex.org/W2557430988","https://openalex.org/W2608018532","https://openalex.org/W2625419594","https://openalex.org/W2768018028","https://openalex.org/W2770279027","https://openalex.org/W2792628366","https://openalex.org/W2888422218","https://openalex.org/W6686451621"],"related_works":["https://openalex.org/W3001421374","https://openalex.org/W2883280110","https://openalex.org/W4379409270","https://openalex.org/W2948766037","https://openalex.org/W2724353854","https://openalex.org/W2744971221","https://openalex.org/W4229060266","https://openalex.org/W2909386959","https://openalex.org/W2602019182","https://openalex.org/W4302293316"],"abstract_inverted_index":{"Accurate":[0],"knowledge":[1],"of":[2,15,52,56,144],"geometric":[3],"and":[4,12,31,58,118,135,150],"inertia":[5],"parameters":[6],"are":[7,129],"a":[8,20,90,141],"necessity":[9],"for":[10],"precise":[11],"robust":[13],"control":[14],"aerial":[16],"vehicles.":[17],"We":[18,88],"propose":[19],"novel":[21],"filter":[22],"that":[23,95],"is":[24,45,99,133],"able":[25,46],"to":[26,34,47,71,112,122,140],"fuse":[27],"motor":[28],"speed,":[29],"inertia,":[30,53],"pose":[32],"measurements":[33],"estimate":[35,48,113],"the":[36,49,69,96,106,110,114],"vehicle's":[37],"key":[38],"dynamic":[39,115],"properties":[40,116],"online.":[41],"The":[42,131],"presented":[43,97],"framework":[44,132],"multirotor's":[50],"moment":[51],"mass,":[54],"center":[55],"mass":[57],"each":[59],"sensor":[60],"module's":[61],"relative":[62],"position.":[63],"Obtaining":[64],"these":[65],"estimates":[66],"in-flight":[67],"allow":[68],"multirotor":[70],"be":[72,138],"precisely":[73],"controlled":[74],"even":[75,125],"during":[76],"tasks":[77],"such":[78],"as":[79],"load":[80],"transportation":[81],"or":[82,153],"after":[83],"configuration":[84],"changes":[85],"on":[86],"scene.":[87],"provide":[89],"nonlinear":[91],"observability":[92],"analysis,":[93],"proving":[94],"model":[98],"locally":[100],"weakly":[101],"observable.":[102],"Experimental":[103],"results":[104],"validate":[105],"proposed":[107],"approach,":[108],"showing":[109],"ability":[111],"accurately":[117],"demonstrate":[119],"its":[120],"capability":[121],"do":[123],"so":[124],"while":[126],"additional":[127],"loads":[128],"added.":[130],"flexible":[134],"can":[136],"easily":[137],"adapted":[139],"wide":[142],"range":[143],"applications,":[145],"including":[146],"self-calibration,":[147],"object":[148],"grasping,":[149],"single":[151],"robot":[152],"multi-robot":[154],"payload":[155],"transportation.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}