{"id":"https://openalex.org/W3207333935","doi":"https://doi.org/10.1109/icra48506.2021.9561529","title":"Improving Dynamics of an Aerial Manipulator with Elastic Suspension Using Nonlinear Model Predictive Control","display_name":"Improving Dynamics of an Aerial Manipulator with Elastic Suspension Using Nonlinear Model Predictive Control","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207333935","doi":"https://doi.org/10.1109/icra48506.2021.9561529","mag":"3207333935"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561529","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":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04444413v1/file/ICRA_2021_NMPC_dextAIR_.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040721994","display_name":"Arda Yi\u011fit","orcid":"https://orcid.org/0000-0002-1254-3219"},"institutions":[{"id":"https://openalex.org/I2801509770","display_name":"Institut National des Sciences Appliqu\u00e9es de Strasbourg","ror":"https://ror.org/001nta019","country_code":"FR","type":"education","lineage":["https://openalex.org/I2801509770"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]},{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Arda Yigit","raw_affiliation_strings":["ICube Laboratory, University of Strasbourg, INSA Strasbourg, Strasbourg, France","ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)"],"affiliations":[{"raw_affiliation_string":"ICube Laboratory, University of Strasbourg, INSA Strasbourg, Strasbourg, France","institution_ids":["https://openalex.org/I2801509770","https://openalex.org/I68947357"]},{"raw_affiliation_string":"ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)","institution_ids":["https://openalex.org/I4210100283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024290658","display_name":"Miguel Arpa Perozo","orcid":"https://orcid.org/0000-0001-5730-1371"},"institutions":[{"id":"https://openalex.org/I2801509770","display_name":"Institut National des Sciences Appliqu\u00e9es de Strasbourg","ror":"https://ror.org/001nta019","country_code":"FR","type":"education","lineage":["https://openalex.org/I2801509770"]},{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Miguel Arpa Perozo","raw_affiliation_strings":["ICube Laboratory, University of Strasbourg, INSA Strasbourg, Strasbourg, France","ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)"],"affiliations":[{"raw_affiliation_string":"ICube Laboratory, University of Strasbourg, INSA Strasbourg, Strasbourg, France","institution_ids":["https://openalex.org/I2801509770","https://openalex.org/I68947357"]},{"raw_affiliation_string":"ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)","institution_ids":["https://openalex.org/I4210100283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084220323","display_name":"Lo\u00efc Cuvillon","orcid":"https://orcid.org/0000-0002-2740-051X"},"institutions":[{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]},{"id":"https://openalex.org/I2801509770","display_name":"Institut National des Sciences Appliqu\u00e9es de Strasbourg","ror":"https://ror.org/001nta019","country_code":"FR","type":"education","lineage":["https://openalex.org/I2801509770"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Loic Cuvillon","raw_affiliation_strings":["ICube Laboratory, University of Strasbourg, INSA Strasbourg, Strasbourg, France","ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)"],"affiliations":[{"raw_affiliation_string":"ICube Laboratory, University of Strasbourg, INSA Strasbourg, Strasbourg, France","institution_ids":["https://openalex.org/I2801509770","https://openalex.org/I68947357"]},{"raw_affiliation_string":"ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)","institution_ids":["https://openalex.org/I4210100283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101487072","display_name":"Sylvain Durand","orcid":"https://orcid.org/0000-0003-1529-098X"},"institutions":[{"id":"https://openalex.org/I2801509770","display_name":"Institut National des Sciences Appliqu\u00e9es de Strasbourg","ror":"https://ror.org/001nta019","country_code":"FR","type":"education","lineage":["https://openalex.org/I2801509770"]},{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sylvain Durand","raw_affiliation_strings":["ICube Laboratory, University of Strasbourg, INSA Strasbourg, Strasbourg, France","ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)"],"affiliations":[{"raw_affiliation_string":"ICube Laboratory, University of Strasbourg, INSA Strasbourg, Strasbourg, France","institution_ids":["https://openalex.org/I2801509770","https://openalex.org/I68947357"]},{"raw_affiliation_string":"ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)","institution_ids":["https://openalex.org/I4210100283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078986868","display_name":"Jacques Gangloff","orcid":"https://orcid.org/0000-0003-4984-942X"},"institutions":[{"id":"https://openalex.org/I2801509770","display_name":"Institut National des Sciences Appliqu\u00e9es de Strasbourg","ror":"https://ror.org/001nta019","country_code":"FR","type":"education","lineage":["https://openalex.org/I2801509770"]},{"id":"https://openalex.org/I4210100283","display_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","ror":"https://ror.org/00k4e5n71","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2801509770","https://openalex.org/I4210095849","https://openalex.org/I4210100283","https://openalex.org/I4210159245","https://openalex.org/I68947357"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jacques Gangloff","raw_affiliation_strings":["ICube Laboratory, University of Strasbourg, INSA Strasbourg, Strasbourg, France","ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)"],"affiliations":[{"raw_affiliation_string":"ICube Laboratory, University of Strasbourg, INSA Strasbourg, Strasbourg, France","institution_ids":["https://openalex.org/I2801509770","https://openalex.org/I68947357"]},{"raw_affiliation_string":"ICube - Laboratoire des sciences de l'ing\u00e9nieur, de l'informatique et de l'imagerie (300 bd S\u00e9bastien Brant - BP 10413 - F-67412 Illkirch Cedex - France)","institution_ids":["https://openalex.org/I4210100283"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5040721994"],"corresponding_institution_ids":["https://openalex.org/I2801509770","https://openalex.org/I4210100283","https://openalex.org/I68947357"],"apc_list":null,"apc_paid":null,"fwci":0.6933,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.70253176,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9986000061035156,"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":0.9984999895095825,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7930070161819458},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6740821003913879},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6057471036911011},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5609346032142639},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5535316467285156},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5111082196235657},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.506907045841217},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.49939990043640137},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44701895117759705},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4459741413593292},{"id":"https://openalex.org/keywords/suspension","display_name":"Suspension (topology)","score":0.4138185679912567},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.41200608015060425},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3966221809387207},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.361390084028244},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.265000581741333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20684978365898132},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15955817699432373},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11153116822242737},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10018748044967651}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7930070161819458},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6740821003913879},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6057471036911011},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5609346032142639},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5535316467285156},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5111082196235657},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.506907045841217},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.49939990043640137},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44701895117759705},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4459741413593292},{"id":"https://openalex.org/C105341887","wikidata":"https://www.wikidata.org/wiki/Q1307987","display_name":"Suspension (topology)","level":3,"score":0.4138185679912567},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.41200608015060425},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3966221809387207},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.361390084028244},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.265000581741333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20684978365898132},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15955817699432373},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11153116822242737},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10018748044967651},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C5961521","wikidata":"https://www.wikidata.org/wiki/Q746083","display_name":"Homotopy","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48506.2021.9561529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561529","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"},{"id":"pmh:oai:HAL:hal-04444413v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04444413","pdf_url":"https://hal.science/hal-04444413v1/file/ICRA_2021_NMPC_dextAIR_.pdf","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China. pp.533-539, ⟨10.1109/ICRA48506.2021.9561529⟩","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04444413v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04444413","pdf_url":"https://hal.science/hal-04444413v1/file/ICRA_2021_NMPC_dextAIR_.pdf","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China. pp.533-539, ⟨10.1109/ICRA48506.2021.9561529⟩","raw_type":"Conference papers"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8899999856948853,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3207333935.pdf","grobid_xml":"https://content.openalex.org/works/W3207333935.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1977164425","https://openalex.org/W2044494131","https://openalex.org/W2065767335","https://openalex.org/W2250454008","https://openalex.org/W2790708554","https://openalex.org/W2792083172","https://openalex.org/W2810622842","https://openalex.org/W2891102912","https://openalex.org/W2967319184","https://openalex.org/W2967670646","https://openalex.org/W2967935934","https://openalex.org/W2982385401","https://openalex.org/W3038001967","https://openalex.org/W3083845778","https://openalex.org/W3089875479","https://openalex.org/W3091377846","https://openalex.org/W3091609937","https://openalex.org/W3102483563","https://openalex.org/W3130186266","https://openalex.org/W3155272911","https://openalex.org/W4327873097","https://openalex.org/W6769695173","https://openalex.org/W6774271354","https://openalex.org/W6783388770"],"related_works":["https://openalex.org/W1631623342","https://openalex.org/W1779399219","https://openalex.org/W648378158","https://openalex.org/W3083517787","https://openalex.org/W2143511391","https://openalex.org/W1981727740","https://openalex.org/W4251946813","https://openalex.org/W2885820669","https://openalex.org/W1839440842","https://openalex.org/W2368407738"],"abstract_inverted_index":{"Aerial":[0,25],"manipulation":[1,12],"increases":[2],"significantly":[3],"the":[4,63,76,86,97,102,105],"workspace":[5],"size":[6],"of":[7,17,85,104],"robotic":[8,52],"manipulators.":[9],"However,":[10],"aerial":[11,42],"suffers":[13],"from":[14],"a":[15,46,51,55,68,83,111],"lack":[16],"autonomy":[18],"due":[19],"to":[20,33,110],"limited":[21],"embedded":[22],"energy.":[23],"The":[24],"Manipulator":[26],"with":[27,35,45,67,89,96],"Elastic":[28],"Suspension":[29],"(AMES)":[30],"is":[31,39,65,92],"designed":[32],"cope":[34],"this":[36,61],"issue.":[37],"It":[38],"an":[40,79],"omnidirectional":[41],"vehicle":[43],"equipped":[44],"gripper":[47],"and":[48],"suspended":[49],"under":[50],"carrier":[53],"by":[54,107],"spring":[56],"for":[57],"gravity":[58],"compensation.":[59],"In":[60],"paper,":[62],"AMES":[64,87],"controlled":[66],"nonlinear":[69],"model":[70,84],"predictive":[71],"controller":[72],"(NMPC).":[73],"To":[74],"eliminate":[75],"steady-state":[77],"errors,":[78],"observer":[80],"based":[81],"on":[82],"augmented":[88],"constant":[90],"disturbances":[91],"implemented":[93],"in":[94],"conjunction":[95],"NMPC":[98,106],"controller.":[99,114],"Experiments":[100],"illustrate":[101],"efficiency":[103],"comparing":[108],"it":[109],"computed":[112],"torque":[113]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}