{"id":"https://openalex.org/W3090245910","doi":"https://doi.org/10.1109/icra40945.2020.9196852","title":"A Dual Quaternion-Based Discrete Variational Approach for Accurate and Online Inertial Parameter Estimation in Free-Flying obots","display_name":"A Dual Quaternion-Based Discrete Variational Approach for Accurate and Online Inertial Parameter Estimation in Free-Flying obots","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090245910","doi":"https://doi.org/10.1109/icra40945.2020.9196852","mag":"3090245910"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196852","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5002547901","display_name":"Monica Ekal","orcid":null},"institutions":[{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":null,"type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Monica Ekal","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Lisbon, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052413681","display_name":"Rodrigo Ventura","orcid":"https://orcid.org/0000-0002-5655-9562"},"institutions":[{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":null,"type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Rodrigo Ventura","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Lisbon, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5002547901"],"corresponding_institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"],"apc_list":null,"apc_paid":null,"fwci":0.6903,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.78892898,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"10","issue":null,"first_page":"6021","last_page":"6027"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9997000098228455,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9997000098228455,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991000294685364,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9980000257492065,"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/discretization","display_name":"Discretization","score":0.7359002828598022},{"id":"https://openalex.org/keywords/dual-quaternion","display_name":"Dual quaternion","score":0.7144082188606262},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.6721623539924622},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5864939093589783},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5668473839759827},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5011882781982422},{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.49095776677131653},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.4651440382003784},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.44390761852264404},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43609991669654846},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.42063307762145996},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.331927090883255},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.26946452260017395},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.22424748539924622},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14713770151138306},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13672661781311035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10438761115074158},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09851396083831787}],"concepts":[{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.7359002828598022},{"id":"https://openalex.org/C145941777","wikidata":"https://www.wikidata.org/wiki/Q5310237","display_name":"Dual quaternion","level":3,"score":0.7144082188606262},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.6721623539924622},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5864939093589783},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5668473839759827},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5011882781982422},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.49095776677131653},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.4651440382003784},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.44390761852264404},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43609991669654846},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.42063307762145996},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.331927090883255},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.26946452260017395},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.22424748539924622},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14713770151138306},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13672661781311035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10438761115074158},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09851396083831787},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9196852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196852","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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":32,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1246348620","https://openalex.org/W1485732691","https://openalex.org/W1569934014","https://openalex.org/W1582337205","https://openalex.org/W1602197575","https://openalex.org/W1977164425","https://openalex.org/W1992415540","https://openalex.org/W1997251742","https://openalex.org/W2023429920","https://openalex.org/W2026891225","https://openalex.org/W2030839289","https://openalex.org/W2053710153","https://openalex.org/W2074715845","https://openalex.org/W2098707042","https://openalex.org/W2113642685","https://openalex.org/W2127638935","https://openalex.org/W2159999423","https://openalex.org/W2170039048","https://openalex.org/W2547911309","https://openalex.org/W2570447319","https://openalex.org/W2736363424","https://openalex.org/W2912522929","https://openalex.org/W2947099935","https://openalex.org/W2953046228","https://openalex.org/W2980626718","https://openalex.org/W3151421648","https://openalex.org/W6619408975","https://openalex.org/W6628164470","https://openalex.org/W6629299638","https://openalex.org/W6729763601","https://openalex.org/W6762945206"],"related_works":["https://openalex.org/W2523915674","https://openalex.org/W2888751871","https://openalex.org/W570369945","https://openalex.org/W102224637","https://openalex.org/W2185573392","https://openalex.org/W3127350447","https://openalex.org/W2315718763","https://openalex.org/W4321633639","https://openalex.org/W2914794850","https://openalex.org/W3037787320"],"abstract_inverted_index":{"The":[0],"performance":[1],"of":[2,13,21,36,41,67,91,132],"model-based":[3],"motion":[4],"control":[5],"for":[6],"free-flying":[7],"robots":[8],"relies":[9,28],"on":[10,29,48,64,100],"accurate":[11,135],"estimation":[12,26,58],"their":[14],"parameters.":[15],"In":[16],"this":[17,117],"work,":[18],"a":[19,30,55],"method":[20,61,118],"rigid":[22,69],"body":[23,70],"inertial":[24,84],"parameter":[25,57],"which":[27],"variational":[31,49],"approach":[32],"is":[33,79,119],"presented.":[34],"Instead":[35],"discretizing":[37],"the":[38,65,68,83,101,106,124],"continuous":[39],"equations":[40,46],"motion,":[42],"discrete":[43],"dual":[44],"quaternion":[45],"based":[47,99],"mechanics":[50],"are":[51,109,127],"used":[52,80],"to":[53,81,121,138],"formulate":[54],"linear":[56],"problem.":[59],"This":[60],"depends":[62],"only":[63],"pose":[66],"obtained":[71,108],"from":[72],"standard":[73],"localization":[74],"algorithms.":[75],"Recursive":[76],"semi-definite":[77],"programming":[78],"estimate":[82],"parameters":[85],"(mass,":[86],"rotational":[87],"inertia":[88],"and":[89,123],"center":[90],"mass":[92],"offset)":[93],"online.":[94],"Linear":[95],"Matrix":[96],"Inequality":[97],"constraints":[98],"pseudo-inertia":[102],"matrix":[103],"ensure":[104],"that":[105,116],"estimates":[107,126],"fully":[110],"physically":[111],"consistent.":[112],"Simulation":[113],"results":[114],"demonstrate":[115],"robust":[120],"disturbances":[122],"produced":[125],"at":[128],"least":[129],"one":[130],"order":[131],"magnitude":[133],"more":[134],"when":[136],"compared":[137],"discretization":[139],"using":[140],"finite":[141],"differences.":[142]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}