{"id":"https://openalex.org/W4413925116","doi":"https://doi.org/10.1109/icra55743.2025.11127868","title":"Introducing KUGE: A Simultaneous Control Co-Design Architecture and its Application to Aerial Robotics Development","display_name":"Introducing KUGE: A Simultaneous Control Co-Design Architecture and its Application to Aerial Robotics Development","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925116","doi":"https://doi.org/10.1109/icra55743.2025.11127868"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127868","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://biblio.ugent.be/publication/01KA6K5Z84DHARJG8QDZEFHPZM/file/01KA6KCVJ8CV0DBKHCD709KHKQ.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080170928","display_name":"Jolan Wauters","orcid":"https://orcid.org/0000-0002-6691-9082"},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Jolan Wauters","raw_affiliation_strings":["Ghent University,Dynamic Design Lab (D2Lab) of the Department of Electromechanical, Systems and Metal Engineering,Ghent,Belgium,B-90S2"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ghent University,Dynamic Design Lab (D2Lab) of the Department of Electromechanical, Systems and Metal Engineering,Ghent,Belgium,B-90S2","institution_ids":["https://openalex.org/I32597200"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058733585","display_name":"Tom Lefebvre","orcid":"https://orcid.org/0000-0003-4548-9623"},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Tom Lefebvre","raw_affiliation_strings":["Ghent University,Dynamic Design Lab (D2Lab) of the Department of Electromechanical, Systems and Metal Engineering,Ghent,Belgium,B-90S2"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ghent University,Dynamic Design Lab (D2Lab) of the Department of Electromechanical, Systems and Metal Engineering,Ghent,Belgium,B-90S2","institution_ids":["https://openalex.org/I32597200"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067813287","display_name":"Guillaume Crevecoeur","orcid":"https://orcid.org/0000-0001-7630-8579"},"institutions":[{"id":"https://openalex.org/I32597200","display_name":"Ghent University","ror":"https://ror.org/00cv9y106","country_code":"BE","type":"education","lineage":["https://openalex.org/I32597200"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Guillaume Crevecoeur","raw_affiliation_strings":["Ghent University,Dynamic Design Lab (D2Lab) of the Department of Electromechanical, Systems and Metal Engineering,Ghent,Belgium,B-90S2"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ghent University,Dynamic Design Lab (D2Lab) of the Department of Electromechanical, Systems and Metal Engineering,Ghent,Belgium,B-90S2","institution_ids":["https://openalex.org/I32597200"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I32597200"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23417751,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8072","last_page":"8078"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9785000085830688,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9785000085830688,"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/T10933","display_name":"Real-Time Systems Scheduling","score":0.9753999710083008,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9484999775886536,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.692557692527771},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.6180846095085144},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6014479398727417},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5848191380500793},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43055230379104614},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3775140047073364},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3626951575279236},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3353753089904785},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30047470331192017},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1002655029296875}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.692557692527771},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6180846095085144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6014479398727417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5848191380500793},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43055230379104614},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3775140047073364},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3626951575279236},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3353753089904785},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30047470331192017},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1002655029296875},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra55743.2025.11127868","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127868","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:archive.ugent.be:01KA6K5Z84DHARJG8QDZEFHPZM","is_oa":true,"landing_page_url":"https://biblio.ugent.be/publication/01KA6K5Z84DHARJG8QDZEFHPZM","pdf_url":"https://biblio.ugent.be/publication/01KA6K5Z84DHARJG8QDZEFHPZM/file/01KA6KCVJ8CV0DBKHCD709KHKQ.pdf","source":{"id":"https://openalex.org/S4306400478","display_name":"Ghent University Academic Bibliography (Ghent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32597200","host_organization_name":"Ghent University","host_organization_lineage":["https://openalex.org/I32597200"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISBN: 9798331541392","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:archive.ugent.be:01KA6K5Z84DHARJG8QDZEFHPZM","is_oa":true,"landing_page_url":"https://biblio.ugent.be/publication/01KA6K5Z84DHARJG8QDZEFHPZM","pdf_url":"https://biblio.ugent.be/publication/01KA6K5Z84DHARJG8QDZEFHPZM/file/01KA6KCVJ8CV0DBKHCD709KHKQ.pdf","source":{"id":"https://openalex.org/S4306400478","display_name":"Ghent University Academic Bibliography (Ghent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32597200","host_organization_name":"Ghent University","host_organization_lineage":["https://openalex.org/I32597200"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISBN: 9798331541392","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1365422463","display_name":"Development of surrogate-assisted algorithms for combined design and trajectory optimization of dynamic mechatronic systems","funder_award_id":"12ZZP23N","funder_id":"https://openalex.org/F4320321730","funder_display_name":"Fonds Wetenschappelijk Onderzoek"}],"funders":[{"id":"https://openalex.org/F4320321730","display_name":"Fonds Wetenschappelijk Onderzoek","ror":"https://ror.org/03qtxy027"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4413925116.pdf"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1144035018","https://openalex.org/W2021012767","https://openalex.org/W2192203593","https://openalex.org/W2738968852","https://openalex.org/W2794680821","https://openalex.org/W2811386030","https://openalex.org/W2906464253","https://openalex.org/W2963269769","https://openalex.org/W2966957982","https://openalex.org/W2971565374","https://openalex.org/W2971948046","https://openalex.org/W2998644151","https://openalex.org/W3048039920","https://openalex.org/W3094086368","https://openalex.org/W3096935263","https://openalex.org/W3146351305","https://openalex.org/W3162373567","https://openalex.org/W3185620218","https://openalex.org/W3195230107","https://openalex.org/W3206965411","https://openalex.org/W4211049957","https://openalex.org/W4211127940","https://openalex.org/W4225639672","https://openalex.org/W4285395559","https://openalex.org/W4293056209","https://openalex.org/W4293793779","https://openalex.org/W4385482433","https://openalex.org/W4385488533","https://openalex.org/W4385975664","https://openalex.org/W4389101277","https://openalex.org/W4390480955","https://openalex.org/W4391328603","https://openalex.org/W4401415810"],"related_works":["https://openalex.org/W1508899372","https://openalex.org/W2012658348","https://openalex.org/W2039460805","https://openalex.org/W4250956039","https://openalex.org/W4240485100","https://openalex.org/W4254970379","https://openalex.org/W2056130799","https://openalex.org/W2045758229","https://openalex.org/W405964254","https://openalex.org/W2297646692"],"abstract_inverted_index":{"The":[0,98,117],"increasing":[1],"complexity":[2,171],"of":[3,101,150,180,190,199],"tasks":[4],"performed":[5],"by":[6,88,109,192],"hybrid":[7],"aerial":[8],"robotic":[9],"systems,":[10],"such":[11],"as":[12],"tail-sitters,":[13],"demands":[14],"a":[15,128,151,164,177,200],"more":[16],"integrated":[17],"approach":[18,100,131],"to":[19,56,68,83,143,195],"their":[20],"design.":[21],"Traditional":[22],"sequential":[23],"design":[24,34,51,79,92,107,114,198],"methods":[25],"fall":[26],"short":[27],"because":[28],"they":[29],"separate":[30],"the":[31,36,40,50,59,95,106,134,146,188,196,208],"control":[32,60,90,102,111],"system":[33,63,113],"from":[35],"conceptual":[37],"design,":[38],"limiting":[39],"poten-tial":[41],"for":[42,145],"discovering":[43],"coupled":[44],"solutions.":[45],"This":[46],"disjointed":[47],"process":[48],"constrains":[49],"space,":[52],"making":[53],"it":[54,194,204],"difficult":[55],"optimize":[57],"both":[58],"performance":[61],"and":[62,91,112,172,183],"dynamics":[64],"simultaneously.":[65],"In":[66],"response":[67],"this":[69],"limitation,":[70],"there":[71],"has":[72],"been":[73],"growing":[74],"interest":[75],"in":[76,94],"mission-specific":[77],"dynamic":[78,197],"procedures,":[80],"which":[81],"aim":[82],"address":[84,158],"specific":[85],"operational":[86],"challenges":[87],"integrating":[89],"early":[93],"development":[96],"process.":[97],"multi-disciplinary":[99],"co-design":[103],"(CCD)":[104],"expands":[105],"space":[108],"solving":[110],"problems":[115],"concurrently.":[116],"recently":[118],"introduced":[119],"DAIMYO":[120,209],"framework":[121],"demonstrated":[122],"that":[123,168,203],"combining":[124],"multi-fidelity":[125],"modelling":[126],"with":[127,207],"nested":[129,152],"CCD":[130,166],"can":[132],"tackle":[133],"situ-to-reel":[135],"gap.":[136],"However,":[137],"DAIMYO's":[138],"reliance":[139],"on":[140],"Bayesian":[141],"optimization":[142,182],"account":[144],"computational":[147,170,214],"cost":[148],"increase":[149],"formulation":[153],"limits":[154],"its":[155],"scalability.":[156],"To":[157],"these":[159],"issues,":[160],"we":[161],"propose":[162],"KUGE,":[163],"simultaneous":[165],"strategy":[167],"reduces":[169],"overcomes":[173],"dimensionality":[174],"restrictions":[175],"through":[176],"combined":[178],"effort":[179],"stochastic":[181],"Gaussian":[184],"processes.":[185],"We":[186],"validate":[187],"effectiveness":[189],"KUGE":[191],"applying":[193],"tail-sitter,":[201],"showing":[202],"is":[205],"competitive":[206],"architecture":[210],"while":[211],"offering":[212],"greater":[213],"efficiency.":[215]},"counts_by_year":[],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}
