{"id":"https://openalex.org/W2968479790","doi":"https://doi.org/10.1109/icra.2019.8794373","title":"Design and Control of a Passively Morphing Quadcopter","display_name":"Design and Control of a Passively Morphing Quadcopter","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968479790","doi":"https://doi.org/10.1109/icra.2019.8794373","mag":"2968479790"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794373","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/A5033126149","display_name":"Nathan Bucki","orcid":"https://orcid.org/0000-0002-2563-6609"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Bucki","raw_affiliation_strings":["High Performance Robotics Lab, University of California, Berkeley, CA, USA","High Performance Robotics Lab, University of California, Berkeley, CA 94703, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"High Performance Robotics Lab, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I95457486"]},{"raw_affiliation_string":"High Performance Robotics Lab, University of California, Berkeley, CA 94703, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009591368","display_name":"Mark W. Mueller","orcid":"https://orcid.org/0000-0002-0557-5677"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark W. Mueller","raw_affiliation_strings":["High Performance Robotics Lab, University of California, Berkeley, CA, USA","High Performance Robotics Lab, University of California, Berkeley, CA 94703, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"High Performance Robotics Lab, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I95457486"]},{"raw_affiliation_string":"High Performance Robotics Lab, University of California, Berkeley, CA 94703, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.105,"has_fulltext":false,"cited_by_count":103,"citation_normalized_percentile":{"value":0.98344489,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"9116","last_page":"9122"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9988999962806702,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9988999962806702,"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/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":0.9973000288009644,"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/quadcopter","display_name":"Quadcopter","score":0.992445707321167},{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.8737577199935913},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.6854825019836426},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5818307995796204},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5772079229354858},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5666581988334656},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5507425665855408},{"id":"https://openalex.org/keywords/aileron","display_name":"Aileron","score":0.41889724135398865},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40433380007743835},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35520243644714355},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.337770938873291},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.2940494418144226},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.13060182332992554},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.128347247838974}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.992445707321167},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.8737577199935913},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.6854825019836426},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5818307995796204},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5772079229354858},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5666581988334656},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5507425665855408},{"id":"https://openalex.org/C144918251","wikidata":"https://www.wikidata.org/wiki/Q509379","display_name":"Aileron","level":3,"score":0.41889724135398865},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40433380007743835},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35520243644714355},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.337770938873291},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.2940494418144226},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.13060182332992554},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.128347247838974},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8794373","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794373","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":[{"display_name":"Affordable and clean energy","score":0.6200000047683716,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1655533683","https://openalex.org/W1983987892","https://openalex.org/W1998434453","https://openalex.org/W2002702002","https://openalex.org/W2123753333","https://openalex.org/W2142424817","https://openalex.org/W2181845023","https://openalex.org/W2482392012","https://openalex.org/W2562064557","https://openalex.org/W2564095182","https://openalex.org/W2614122538","https://openalex.org/W2768075315","https://openalex.org/W2774613902","https://openalex.org/W2806599356","https://openalex.org/W2910475488","https://openalex.org/W2968479790","https://openalex.org/W4242816125"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2391896861","https://openalex.org/W2374879391","https://openalex.org/W4281994921","https://openalex.org/W764403927","https://openalex.org/W4387962251","https://openalex.org/W4391300975","https://openalex.org/W2153153957","https://openalex.org/W2314130738"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,63,95],"novel":[4],"quadcopter":[5,32,49,97,108],"design":[6,137],"that":[7,42,106,118,141],"uses":[8],"passive":[9],"rotary":[10],"joints":[11],"to":[12,50,80],"enable":[13],"rapid":[14],"aerial":[15],"morphing":[16],"without":[17],"the":[18,28,31,34,45,48,59,66,70,78,89,123,132,149],"use":[19],"of":[20,30,47,65,69,77,91,131,152],"additional":[21,120],"actuators.":[22],"The":[23,75,101,128],"normally":[24],"rigid":[25],"connections":[26],"between":[27,145],"arms":[29,46],"and":[33,110,136,147,164],"central":[35],"body":[36],"are":[37,56,126,134,139],"replaced":[38],"by":[39,58,72],"sprung":[40],"hinges":[41],"allow":[43],"for":[44,88,157],"fold":[51],"downward":[52],"when":[53],"low":[54],"thrusts":[55],"produced":[57],"propellers,":[60],"resulting":[61],"in":[62],"reduction":[64],"largest":[67],"dimension":[68],"vehicle":[71,79,102],"approximately":[73],"50%.":[74],"ability":[76],"reduce":[81],"its":[82],"size":[83],"during":[84],"flight":[85],"allows,":[86],"e.g.,":[87],"traversal":[90,160],"gaps":[92],"through":[93],"which":[94],"non-morphing":[96],"could":[98],"not":[99],"pass.":[100],"is":[103,162],"designed":[104],"such":[105],"existing":[107],"controllers":[109],"trajectory":[111],"generation":[112],"algorithms":[113],"can":[114],"be":[115],"used,":[116],"provided":[117],"some":[119],"constraints":[121],"on":[122],"control":[124,153],"inputs":[125],"met.":[127],"nonlinear":[129],"dynamics":[130],"system":[133],"presented,":[135],"rules":[138],"given":[140],"minimize":[142],"transition":[143],"time":[144],"configurations":[146],"maximize":[148],"available":[150],"range":[151],"inputs.":[154],"A":[155],"method":[156],"performing":[158],"gap":[159],"maneuvers":[161],"proposed":[163],"validated":[165],"experimentally.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":26},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-24T13:16:06.693445","created_date":"2025-10-10T00:00:00"}