{"id":"https://openalex.org/W4401414468","doi":"https://doi.org/10.1109/icra57147.2024.10610031","title":"Robust and Energy-Efficient Control for Multi-task Aerial Manipulation with Automatic Arm-switching","display_name":"Robust and Energy-Efficient Control for Multi-task Aerial Manipulation with Automatic Arm-switching","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414468","doi":"https://doi.org/10.1109/icra57147.2024.10610031"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610031","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5115589725","display_name":"Ying Wu","orcid":"https://orcid.org/0009-0006-0584-460X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ying Wu","raw_affiliation_strings":["Sun Yat-Sen University,School of Computer Science and Engineering,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"Sun Yat-Sen University,School of Computer Science and Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077283808","display_name":"Zida Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zida Zhou","raw_affiliation_strings":["Sun Yat-Sen University,School of Computer Science and Engineering,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"Sun Yat-Sen University,School of Computer Science and Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057795746","display_name":"Mingxin Wei","orcid":"https://orcid.org/0009-0007-6466-178X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingxin Wei","raw_affiliation_strings":["Sun Yat-Sen University,School of Artificial Intelligence,Guangzhou,China,511400"],"affiliations":[{"raw_affiliation_string":"Sun Yat-Sen University,School of Artificial Intelligence,Guangzhou,China,511400","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101409148","display_name":"Hui Cheng","orcid":"https://orcid.org/0000-0003-2579-7004"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Cheng","raw_affiliation_strings":["Sun Yat-Sen University,School of Computer Science and Engineering,Guangzhou,China,510006"],"affiliations":[{"raw_affiliation_string":"Sun Yat-Sen University,School of Computer Science and Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5115589725"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":1.579,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.84341446,"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":"8394","last_page":"8400"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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":0.9991000294685364,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9972000122070312,"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/computer-science","display_name":"Computer science","score":0.6474741697311401},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6240098476409912},{"id":"https://openalex.org/keywords/task-switching","display_name":"Task switching","score":0.5102689266204834},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4744863510131836},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4743172824382782},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.43219584226608276},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4246056079864502},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3142404556274414},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30808210372924805},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16977667808532715},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11706817150115967},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.07312613725662231}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6474741697311401},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6240098476409912},{"id":"https://openalex.org/C93500599","wikidata":"https://www.wikidata.org/wiki/Q7687352","display_name":"Task switching","level":3,"score":0.5102689266204834},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4744863510131836},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4743172824382782},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.43219584226608276},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4246056079864502},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3142404556274414},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30808210372924805},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16977667808532715},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11706817150115967},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.07312613725662231},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610031","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8799999952316284,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1557353344","https://openalex.org/W1597335599","https://openalex.org/W2556063108","https://openalex.org/W2560781825","https://openalex.org/W2567501038","https://openalex.org/W2769604969","https://openalex.org/W2771588210","https://openalex.org/W2884088616","https://openalex.org/W2947082796","https://openalex.org/W2954055669","https://openalex.org/W2983056308","https://openalex.org/W2994887143","https://openalex.org/W3012211643","https://openalex.org/W3039488576","https://openalex.org/W3133117159","https://openalex.org/W3171492399","https://openalex.org/W3207177801","https://openalex.org/W4205161126","https://openalex.org/W4229014698","https://openalex.org/W4236996136","https://openalex.org/W4283731026","https://openalex.org/W4285040080","https://openalex.org/W4285222543","https://openalex.org/W4285611143","https://openalex.org/W4383108850","https://openalex.org/W4383109209","https://openalex.org/W4392024211","https://openalex.org/W6723105008","https://openalex.org/W6747997748"],"related_works":["https://openalex.org/W2076931626","https://openalex.org/W2047060826","https://openalex.org/W1974443742","https://openalex.org/W2108446107","https://openalex.org/W3094320087","https://openalex.org/W1974431725","https://openalex.org/W2081653557","https://openalex.org/W3209814863","https://openalex.org/W2165314711","https://openalex.org/W4387123727"],"abstract_inverted_index":{"Aerial":[0],"manipulation":[1,127],"has":[2],"received":[3],"increasing":[4],"research":[5],"interest":[6],"with":[7,18,44,104],"wide":[8],"applications":[9],"of":[10,121,167],"drones.":[11],"To":[12],"perform":[13],"specific":[14],"tasks,":[15,128],"robotic":[16,40,62,150,159,186],"arms":[17,63,151,187],"various":[19,61,87,185],"mechanical":[20],"structures":[21],"will":[22],"be":[23],"mounted":[24],"on":[25,135],"the":[26,34,39,45,111,115,119,155,168,179],"drone.":[27],"It":[28],"results":[29],"in":[30],"sudden":[31],"disturbances":[32],"to":[33,51,60,85,109,171,184],"aerial":[35,67,88,116,126,193],"manipulator":[36],"when":[37,64,124,190],"switching":[38],"arm":[41,160],"or":[42],"interacting":[43],"environment.":[46],"Hence,":[47],"it":[48],"is":[49],"challenging":[50],"design":[52],"a":[53,74,105,132],"generic":[54],"and":[55,83,141,145,152,188],"robust":[56],"control":[57,76,123],"strategy":[58],"adapted":[59],"achieving":[65],"multi-task":[66,192],"manipulation.":[68,194],"In":[69],"this":[70,129],"paper,":[71],"we":[72],"present":[73],"learning-based":[75],"algorithm":[77],"that":[78,139,178],"allows":[79],"online":[80],"trajectory":[81,97,113],"optimization":[82],"tracking":[84],"accomplish":[86],"interaction":[89],"tasks":[90],"without":[91],"manual":[92],"adjustment.":[93],"The":[94],"proposed":[95,180],"energy-saved":[96],"planning":[98],"approach":[99],"integrates":[100],"coupled":[101],"dynamics":[102],"model":[103],"single":[106],"rigid":[107],"body":[108],"generate":[110],"energy-efficient":[112],"for":[114],"manipulator.":[117],"Addressing":[118],"challenges":[120],"precise":[122],"performing":[125,191],"paper":[130],"presents":[131],"controller":[133],"based":[134],"deep":[136],"neural":[137],"networks":[138],"classifies":[140],"learns":[142],"accurate":[143],"forces":[144,156],"moments":[146],"caused":[147],"by":[148],"different":[149],"interactions.":[153],"Moreover,":[154],"arising":[157],"from":[158],"motions":[161],"are":[162],"delicately":[163],"used":[164],"as":[165],"part":[166],"drone\u2019s":[169],"power":[170],"save":[172],"energy.":[173],"Extensive":[174],"real-world":[175],"experiments":[176],"demonstrate":[177],"method":[181],"can":[182],"adapt":[183],"interactions":[189]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}
