{"id":"https://openalex.org/W2901402208","doi":"https://doi.org/10.1109/icra.2019.8794351","title":"Neural Lander: Stable Drone Landing Control Using Learned Dynamics","display_name":"Neural Lander: Stable Drone Landing Control Using Learned Dynamics","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2901402208","doi":"https://doi.org/10.1109/icra.2019.8794351","mag":"2901402208"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794351","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":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1811.08027","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029314167","display_name":"Guanya Shi","orcid":"https://orcid.org/0000-0002-9075-3705"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guanya Shi","raw_affiliation_strings":["California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028521975","display_name":"Xichen Shi","orcid":"https://orcid.org/0000-0002-5366-9256"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xichen Shi","raw_affiliation_strings":["California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101824579","display_name":"Michael O\u2019Connell","orcid":"https://orcid.org/0000-0001-6681-8823"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael O'Connell","raw_affiliation_strings":["California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057778679","display_name":"Rose Yu","orcid":"https://orcid.org/0000-0002-8491-7937"},"institutions":[{"id":"https://openalex.org/I87182695","display_name":"Universidad del Noreste","ror":"https://ror.org/02ahky613","country_code":"MX","type":"education","lineage":["https://openalex.org/I87182695"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Rose Yu","raw_affiliation_strings":["Northeastern University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University","institution_ids":["https://openalex.org/I87182695"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038884528","display_name":"Kamyar Azizzadenesheli","orcid":"https://orcid.org/0000-0001-8507-1868"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kamyar Azizzadenesheli","raw_affiliation_strings":["University of California, Irvine"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Irvine","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023215207","display_name":"Animashree Anandkumar","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Animashree Anandkumar","raw_affiliation_strings":["California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085826758","display_name":"Yisong Yue","orcid":"https://orcid.org/0000-0001-9127-1989"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yisong Yue","raw_affiliation_strings":["California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031408324","display_name":"Soon\u2010Jo Chung","orcid":"https://orcid.org/0000-0002-6657-3907"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Soon-Jo Chung","raw_affiliation_strings":["California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":14.7447,"has_fulltext":false,"cited_by_count":273,"citation_normalized_percentile":{"value":0.99140252,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"9784","last_page":"9790"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.988099992275238,"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":0.988099992275238,"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":0.9800000190734863,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9700999855995178,"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/drone","display_name":"Drone","score":0.7874848246574402},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5505920052528381},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.47965148091316223},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4426426291465759},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.44046032428741455},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43996116518974304},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4053395688533783},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.329730361700058},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24180901050567627},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11694797873497009},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.07307422161102295}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7874848246574402},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5505920052528381},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.47965148091316223},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4426426291465759},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.44046032428741455},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43996116518974304},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4053395688533783},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.329730361700058},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24180901050567627},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11694797873497009},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.07307422161102295},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2019.8794351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794351","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"},{"id":"pmh:oai:arXiv.org:1811.08027","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1811.08027","pdf_url":"https://arxiv.org/pdf/1811.08027","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:authors.library.caltech.edu:92658","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/92658/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1811.08027","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1811.08027","pdf_url":"https://arxiv.org/pdf/1811.08027","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1571530861","https://openalex.org/W1591307899","https://openalex.org/W1972009616","https://openalex.org/W2059684734","https://openalex.org/W2115046037","https://openalex.org/W2123600118","https://openalex.org/W2134491302","https://openalex.org/W2143277772","https://openalex.org/W2162991084","https://openalex.org/W2163605009","https://openalex.org/W2194775991","https://openalex.org/W2230249008","https://openalex.org/W2282034761","https://openalex.org/W2284050935","https://openalex.org/W2546070262","https://openalex.org/W2604117713","https://openalex.org/W2618318883","https://openalex.org/W2732724430","https://openalex.org/W2741952635","https://openalex.org/W2755694094","https://openalex.org/W2785678896","https://openalex.org/W2899771611","https://openalex.org/W2914743844","https://openalex.org/W2950220847","https://openalex.org/W2962816839","https://openalex.org/W2962822327","https://openalex.org/W2963285844","https://openalex.org/W2963664410","https://openalex.org/W2963685250","https://openalex.org/W2963739978","https://openalex.org/W2963836885","https://openalex.org/W2964050632","https://openalex.org/W3099442372","https://openalex.org/W3137695714","https://openalex.org/W3145123628","https://openalex.org/W3156063639","https://openalex.org/W4243599615","https://openalex.org/W4294555834","https://openalex.org/W4297738147","https://openalex.org/W6684191040","https://openalex.org/W6695676441","https://openalex.org/W6735544424","https://openalex.org/W6738483526","https://openalex.org/W6739659843","https://openalex.org/W6740483536","https://openalex.org/W6741653254","https://openalex.org/W6744777862","https://openalex.org/W6748582592","https://openalex.org/W6763485134"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W2923210090","https://openalex.org/W3014594398","https://openalex.org/W1931336049","https://openalex.org/W4403119242"],"abstract_inverted_index":{"Precise":[0],"near-ground":[1],"trajectory":[2,159],"control":[3,25,57],"is":[4,123],"difficult":[5],"for":[6,32],"multi-rotor":[7,19],"drones,":[8],"due":[9],"to":[10,29,86,171],"the":[11,22,88,92,106,117,124,144,167,175],"complex":[12,34],"aerodynamic":[13],"effects":[14,35],"caused":[15],"by":[16],"interactions":[17],"between":[18],"airflow":[20],"and":[21,36,109,157],"environment.":[23],"Conventional":[24],"methods":[26],"often":[27],"fail":[28],"properly":[30],"account":[31],"these":[33],"fall":[37],"short":[38],"in":[39,154],"accomplishing":[40],"smooth":[41],"landing.":[42,63],"In":[43],"this":[44,95,122],"paper,":[45],"we":[46,98],"present":[47],"a":[48,60,67,72,100,149],"novel":[49],"deep-learning-based":[50],"robust":[51],"nonlinear":[52,101,127],"controller":[53,104,129,146],"(Neural-Lander)":[54],"that":[55,77,133,143,166],"improves":[56],"performance":[58],"of":[59,91,119],"quadrotor":[61],"during":[62],"Our":[64],"approach":[65],"combines":[66],"nominal":[68],"dynamics":[69],"model":[70,108],"with":[71,113,130],"Deep":[73],"Neural":[74],"Network":[75],"(DNN)":[76],"learns":[78],"high-order":[79],"interactions.":[80],"We":[81,162],"apply":[82],"spectral":[83],"normalization":[84],"(SN)":[85],"constrain":[87],"Lipschitz":[89,96],"constant":[90],"DNN.":[93],"Leveraging":[94],"property,":[97],"design":[99],"feedback":[102,128],"linearization":[103],"using":[105],"learned":[107],"prove":[110],"system":[111],"stability":[112,131],"disturbance":[114],"rejection.":[115],"To":[116],"best":[118],"our":[120],"knowledge,":[121],"first":[125],"DNN-based":[126],"guarantees":[132],"can":[134],"utilize":[135],"arbitrarily":[136],"large":[137],"neural":[138],"nets.":[139],"Experimental":[140],"results":[141],"demonstrate":[142],"proposed":[145],"significantly":[147],"outperforms":[148],"Baseline":[150],"Nonlinear":[151],"Tracking":[152],"Controller":[153],"both":[155],"landing":[156],"cross-table":[158],"tracking":[160],"cases.":[161],"also":[163],"empirically":[164],"show":[165],"DNN":[168],"generalizes":[169],"well":[170],"unseen":[172],"data":[173],"outside":[174],"training":[176],"domain.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":43},{"year":2024,"cited_by_count":46},{"year":2023,"cited_by_count":31},{"year":2022,"cited_by_count":31},{"year":2021,"cited_by_count":58},{"year":2020,"cited_by_count":42},{"year":2019,"cited_by_count":14}],"updated_date":"2026-06-16T09:24:06.705377","created_date":"2025-10-10T00:00:00"}