{"id":"https://openalex.org/W4383108403","doi":"https://doi.org/10.1109/icra48891.2023.10160987","title":"Low-level controller in response to changes in quadrotor dynamics","display_name":"Low-level controller in response to changes in quadrotor dynamics","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108403","doi":"https://doi.org/10.1109/icra48891.2023.10160987"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160987","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5062735425","display_name":"Jaekyung Cho","orcid":"https://orcid.org/0000-0002-1835-534X"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jae-Kyung Cho","raw_affiliation_strings":["Seoul National University,Seoul,South Korea","Seoul National University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Seoul,South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100728732","display_name":"Chan Kim","orcid":"https://orcid.org/0000-0003-1642-6789"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chan Kim","raw_affiliation_strings":["Seoul National University,Seoul,South Korea","Seoul National University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Seoul,South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085906283","display_name":"Mohamed Khalid M Jaffar","orcid":"https://orcid.org/0000-0003-2576-857X"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohamed Khalid M Jaffar","raw_affiliation_strings":["University of Maryland,Maryland,United States","University of Maryland, Maryland, United States"],"affiliations":[{"raw_affiliation_string":"University of Maryland,Maryland,United States","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"University of Maryland, Maryland, United States","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010568864","display_name":"Michael Otte","orcid":"https://orcid.org/0000-0001-7432-0734"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael W. Otte","raw_affiliation_strings":["University of Maryland,Maryland,United States","University of Maryland, Maryland, United States"],"affiliations":[{"raw_affiliation_string":"University of Maryland,Maryland,United States","institution_ids":["https://openalex.org/I66946132"]},{"raw_affiliation_string":"University of Maryland, Maryland, United States","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101807134","display_name":"Seong-Woo Kim","orcid":"https://orcid.org/0000-0003-1633-573X"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seong-Woo Kim","raw_affiliation_strings":["Seoul National University,Seoul,South Korea","Seoul National University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Seoul,South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5062735425"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":0.3497,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.63961879,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5317","last_page":"5323"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12611","display_name":"Neural Networks and Reservoir Computing","score":0.9768000245094299,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9715999960899353,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/computer-science","display_name":"Computer science","score":0.7556480765342712},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5898727774620056},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.5766839981079102},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5748609900474548},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5647985339164734},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5209264159202576},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4955192804336548},{"id":"https://openalex.org/keywords/overheating","display_name":"Overheating (electricity)","score":0.4175829589366913},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4004482328891754},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3461529016494751},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.3171502947807312},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24592214822769165},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13914862275123596},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.06961634755134583}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7556480765342712},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5898727774620056},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.5766839981079102},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5748609900474548},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5647985339164734},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5209264159202576},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4955192804336548},{"id":"https://openalex.org/C2778284599","wikidata":"https://www.wikidata.org/wiki/Q25340000","display_name":"Overheating (electricity)","level":2,"score":0.4175829589366913},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4004482328891754},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3461529016494751},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3171502947807312},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24592214822769165},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13914862275123596},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.06961634755134583},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","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},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/icra48891.2023.10160987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160987","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1562603105","https://openalex.org/W1984083252","https://openalex.org/W2143613953","https://openalex.org/W2249258697","https://openalex.org/W2291973609","https://openalex.org/W2583175451","https://openalex.org/W2733312032","https://openalex.org/W2767050701","https://openalex.org/W2781726626","https://openalex.org/W2899356573","https://openalex.org/W2947106289","https://openalex.org/W2963796870","https://openalex.org/W2964199361","https://openalex.org/W2999483814","https://openalex.org/W3003669699","https://openalex.org/W3005419922","https://openalex.org/W3091635810","https://openalex.org/W3101442004","https://openalex.org/W3154691419","https://openalex.org/W3159759517","https://openalex.org/W4200438872","https://openalex.org/W6696783566","https://openalex.org/W6747473740","https://openalex.org/W6762870418","https://openalex.org/W6791350873"],"related_works":["https://openalex.org/W2380377017","https://openalex.org/W1811598931","https://openalex.org/W1523184867","https://openalex.org/W2391203258","https://openalex.org/W2354827036","https://openalex.org/W2057683340","https://openalex.org/W2043907596","https://openalex.org/W2923210090","https://openalex.org/W3014594398","https://openalex.org/W1931336049"],"abstract_inverted_index":{"The":[0,137],"dynamics":[1,18,63,75,101],"of":[2,54,64,122],"all":[3],"real":[4],"quadrotors":[5,65,133],"inevitably":[6],"differ":[7],"even":[8],"if":[9],"they":[10],"are":[11],"the":[12,17,23,55,62,67,71,79,92,119,123,141],"same":[13],"product.":[14],"In":[15,33,87],"particular,":[16],"can":[19,143],"change":[20],"significantly":[21],"during":[22],"flight":[24],"due":[25],"to":[26,47],"additional":[27],"device":[28],"attachments":[29],"or":[30,52],"overheating":[31],"motors.":[32],"this":[34],"study,":[35],"we":[36,110],"focus":[37],"on":[38,74],"training":[39],"a":[40,112],"low-level":[41],"controller,":[42],"which":[43],"operates":[44],"in":[45,66,94],"response":[46],"dynamics-changes":[48],"without":[49],"prior":[50],"knowledge":[51],"fine-tuning":[53],"parameters,":[56],"using":[57,103],"reinforcement":[58],"learning.":[59],"We":[60],"randomize":[61],"simulator":[68],"and":[69,140],"train":[70],"policy":[72],"based":[73],"information":[76,102],"extracted":[77],"from":[78],"state-action":[80],"history":[81],"through":[82],"recurrent":[83],"neural":[84],"networks":[85],"(RNNs).":[86],"addition,":[88],"our":[89],"experiment":[90,138],"demonstrates":[91],"difficulties":[93],"applying":[95],"existing":[96],"actor-critic":[97],"structures":[98],"that":[99,131],"extract":[100],"end-to-end":[104],"RNNs":[105],"for":[106],"unstable":[107],"quadrotors;":[108],"hence,":[109],"propose":[111],"novel":[113],"structure":[114],"with":[115,134],"better":[116],"performance.":[117],"Finally,":[118],"excellent":[120],"performance":[121],"proposed":[124],"controller":[125],"is":[126],"verified":[127],"by":[128],"testing":[129],"experiments":[130],"stabilize":[132],"different":[135],"dynamics.":[136],"videos":[139],"code":[142],"be":[144],"found":[145],"at":[146],"https://github.com/jackyoung96/RNN-Quadrotor-controller.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}