{"id":"https://openalex.org/W3205108127","doi":"https://doi.org/10.1109/icra48506.2021.9561513","title":"Robust Adaptive Synchronization of Interconnected Heterogeneous Quadrotors Transporting a Cable-Suspended Load","display_name":"Robust Adaptive Synchronization of Interconnected Heterogeneous Quadrotors Transporting a Cable-Suspended Load","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205108127","doi":"https://doi.org/10.1109/icra48506.2021.9561513","mag":"3205108127"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561513","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5001903602","display_name":"Gustavo A. Cardona","orcid":"https://orcid.org/0000-0002-4257-9415"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"G. A. Cardona","raw_affiliation_strings":["AIR-Lab, Lehigh University, PA, USA"],"affiliations":[{"raw_affiliation_string":"AIR-Lab, Lehigh University, PA, USA","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053043411","display_name":"Miguel F. Arevalo\u2010Castiblanco","orcid":"https://orcid.org/0000-0002-3926-5159"},"institutions":[{"id":"https://openalex.org/I36243813","display_name":"Universidad Nacional de Colombia","ror":"https://ror.org/059yx9a68","country_code":"CO","type":"education","lineage":["https://openalex.org/I36243813"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"M. Arevalo-Castiblanco","raw_affiliation_strings":["Universidad Nacional de Colombia, Bogota, Colombia"],"affiliations":[{"raw_affiliation_string":"Universidad Nacional de Colombia, Bogota, Colombia","institution_ids":["https://openalex.org/I36243813"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065543561","display_name":"Duvan Tellez\u2010Castro","orcid":"https://orcid.org/0000-0002-2190-3458"},"institutions":[{"id":"https://openalex.org/I36243813","display_name":"Universidad Nacional de Colombia","ror":"https://ror.org/059yx9a68","country_code":"CO","type":"education","lineage":["https://openalex.org/I36243813"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"D. Tellez-Castro","raw_affiliation_strings":["Universidad Nacional de Colombia, Bogota, Colombia"],"affiliations":[{"raw_affiliation_string":"Universidad Nacional de Colombia, Bogota, Colombia","institution_ids":["https://openalex.org/I36243813"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026915584","display_name":"Juan M. Calder\u00f3n","orcid":"https://orcid.org/0000-0002-4471-3980"},"institutions":[{"id":"https://openalex.org/I2800166025","display_name":"Universidad Santo Tom\u00e1s","ror":"https://ror.org/01x628269","country_code":"CO","type":"education","lineage":["https://openalex.org/I2800166025"]},{"id":"https://openalex.org/I55356238","display_name":"Bethune-Cookman University","ror":"https://ror.org/04e0j1059","country_code":"US","type":"education","lineage":["https://openalex.org/I55356238"]}],"countries":["CO","US"],"is_corresponding":false,"raw_author_name":"J. Calderon","raw_affiliation_strings":["Bethune Cookman University, Daytona, FL","Universidad Santo Tomas, Bogota, Colombia"],"affiliations":[{"raw_affiliation_string":"Bethune Cookman University, Daytona, FL","institution_ids":["https://openalex.org/I55356238"]},{"raw_affiliation_string":"Universidad Santo Tomas, Bogota, Colombia","institution_ids":["https://openalex.org/I2800166025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065441117","display_name":"Eduardo Mojica\u2010Nava","orcid":"https://orcid.org/0000-0002-3259-4013"},"institutions":[{"id":"https://openalex.org/I36243813","display_name":"Universidad Nacional de Colombia","ror":"https://ror.org/059yx9a68","country_code":"CO","type":"education","lineage":["https://openalex.org/I36243813"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"E. Mojica-Nava","raw_affiliation_strings":["Universidad Nacional de Colombia, Bogota, Colombia"],"affiliations":[{"raw_affiliation_string":"Universidad Nacional de Colombia, Bogota, Colombia","institution_ids":["https://openalex.org/I36243813"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5001903602"],"corresponding_institution_ids":["https://openalex.org/I186143895"],"apc_list":null,"apc_paid":null,"fwci":1.0697,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.7870612,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994000196456909,"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":0.9994000196456909,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9977999925613403,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/control-theory","display_name":"Control theory (sociology)","score":0.697799026966095},{"id":"https://openalex.org/keywords/drag","display_name":"Drag","score":0.6261391043663025},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5568100214004517},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5261905789375305},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.4907737672328949},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.487167090177536},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.44940751791000366},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29261288046836853},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16186457872390747},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10767710208892822},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1060367226600647},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09681856632232666},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09430071711540222}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.697799026966095},{"id":"https://openalex.org/C72921944","wikidata":"https://www.wikidata.org/wiki/Q206621","display_name":"Drag","level":2,"score":0.6261391043663025},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5568100214004517},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5261905789375305},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.4907737672328949},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.487167090177536},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.44940751791000366},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29261288046836853},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16186457872390747},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10767710208892822},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1060367226600647},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09681856632232666},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09430071711540222},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561513","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1973734421","https://openalex.org/W2109656638","https://openalex.org/W2341206624","https://openalex.org/W2562187295","https://openalex.org/W2565972716","https://openalex.org/W2590491484","https://openalex.org/W2735501192","https://openalex.org/W2792786946","https://openalex.org/W2891384194","https://openalex.org/W2928707119","https://openalex.org/W2955629900","https://openalex.org/W2958837267","https://openalex.org/W2967173828","https://openalex.org/W2979356185","https://openalex.org/W2998319120","https://openalex.org/W3011229415","https://openalex.org/W3018838329","https://openalex.org/W3025244420","https://openalex.org/W3092939484","https://openalex.org/W3118164194","https://openalex.org/W3209876736","https://openalex.org/W4296368948","https://openalex.org/W6769012245","https://openalex.org/W6788066646"],"related_works":["https://openalex.org/W3019598374","https://openalex.org/W189741","https://openalex.org/W4389482429","https://openalex.org/W2242995739","https://openalex.org/W1491894219","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W2037616569","https://openalex.org/W1934622834","https://openalex.org/W2015036175"],"abstract_inverted_index":{"We":[0,79,122],"tackle":[1],"the":[2,26,32,35,39,43,51,54,68,115,118,130],"problem":[3],"of":[4,41,46],"multiple":[5],"quadrotors":[6,13],"transporting":[7],"a":[8,17,22,47,57,93,100],"cable-suspended":[9],"point-mass":[10],"load.":[11],"The":[12],"are":[14,82,90,132],"treated":[15],"as":[16,67],"virtual":[18,48],"leader-follower":[19],"algorithm,":[20],"where":[21],"multi-layer":[23],"graph":[24],"encapsulates":[25],"communication":[27,36],"and":[28,84,106,117,129],"physical":[29],"interaction.":[30],"On":[31,50],"one":[33],"hand,":[34,53],"stands":[37],"for":[38],"approach":[40,98,128],"following":[42],"reference":[44],"trajectory":[45],"leader.":[49],"other":[52],"load":[55],"exerts":[56],"distributed":[58],"tension":[59],"force":[60],"on":[61,126],"each":[62,73],"cable":[63],"which":[64],"is":[65],"modeled":[66],"well-known":[69],"spring-damping":[70],"system":[71],"to":[72],"quadrotor":[74],"establishing":[75],"an":[76],"interconnected":[77],"dynamic.":[78],"assume":[80],"cables":[81],"stretchable":[83],"have":[85],"neglectable":[86],"mass.":[87],"Both":[88],"objectives":[89],"accomplished":[91],"through":[92,134],"Model":[94],"Reference":[95],"Adaptive":[96],"Control":[97],"with":[99],"robust":[101],"modification":[102],"that":[103],"treats":[104],"uncertainties":[105],"perturbations":[107],"given":[108],"by":[109],"error":[110],"in":[111,114],"parameters,":[112],"noise":[113],"signal,":[116],"wind":[119],"drag":[120],"forces.":[121],"prove":[123],"stability":[124],"based":[125],"Lyapunov":[127],"results":[131],"shown":[133],"simulation.":[135]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"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"}