{"id":"https://openalex.org/W3215764424","doi":"https://doi.org/10.1109/icstcc52150.2021.9607073","title":"Analysis of alternative flat representations of a UAV for trajectory generation and tracking","display_name":"Analysis of alternative flat representations of a UAV for trajectory generation and tracking","publication_year":2021,"publication_date":"2021-10-20","ids":{"openalex":"https://openalex.org/W3215764424","doi":"https://doi.org/10.1109/icstcc52150.2021.9607073","mag":"3215764424"},"language":"en","primary_location":{"id":"doi:10.1109/icstcc52150.2021.9607073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icstcc52150.2021.9607073","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 25th International Conference on System Theory, Control and Computing (ICSTCC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-03893925","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057977383","display_name":"Huu-Thinh Do","orcid":"https://orcid.org/0000-0003-2360-5339"},"institutions":[{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Huu-Thinh Do","raw_affiliation_strings":["Univ. Grenoble Alpes, Grenoble INP, LCIS, Valence, France"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, Grenoble INP, LCIS, Valence, France","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I899635006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034151810","display_name":"Ionela Prodan","orcid":"https://orcid.org/0000-0002-3522-5192"},"institutions":[{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I106785703","display_name":"Institut polytechnique de Grenoble","ror":"https://ror.org/05sbt2524","country_code":"FR","type":"education","lineage":["https://openalex.org/I106785703","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ionela Prodan","raw_affiliation_strings":["Univ. Grenoble Alpes, Grenoble INP, LCIS, Valence, France"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, Grenoble INP, LCIS, Valence, France","institution_ids":["https://openalex.org/I106785703","https://openalex.org/I899635006"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009952869","display_name":"Florin Stoican","orcid":"https://orcid.org/0000-0002-4550-9113"},"institutions":[{"id":"https://openalex.org/I61641377","display_name":"Universitatea Na\u021bional\u0103 de \u0218tiin\u021b\u0103 \u0219i Tehnologie Politehnica Bucure\u0219ti","ror":"https://ror.org/0558j5q12","country_code":"RO","type":"education","lineage":["https://openalex.org/I61641377"]}],"countries":["RO"],"is_corresponding":false,"raw_author_name":"Florin Stoican","raw_affiliation_strings":["Politehnica University of Bucharest, ACSE, Bucharest, Romania"],"affiliations":[{"raw_affiliation_string":"Politehnica University of Bucharest, ACSE, Bucharest, Romania","institution_ids":["https://openalex.org/I61641377"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5057977383"],"corresponding_institution_ids":["https://openalex.org/I106785703","https://openalex.org/I899635006"],"apc_list":null,"apc_paid":null,"fwci":0.2913,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.57520322,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"58","last_page":"63"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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/T12158","display_name":"Guidance and Control Systems","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9984999895095825,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8465132713317871},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.8168805837631226},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6578559875488281},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.62152498960495},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5578666925430298},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.502758264541626},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4672265946865082},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.41035541892051697},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36306822299957275},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28271710872650146},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23566728830337524},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14377862215042114}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8465132713317871},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.8168805837631226},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6578559875488281},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.62152498960495},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5578666925430298},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.502758264541626},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4672265946865082},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.41035541892051697},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36306822299957275},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28271710872650146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23566728830337524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14377862215042114},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icstcc52150.2021.9607073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icstcc52150.2021.9607073","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 25th International Conference on System Theory, Control and Computing (ICSTCC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03893925v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03893925","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"2021 25th International Conference on System Theory, Control and Computing (ICSTCC), 2021, lasi, Romania","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03893925v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03893925","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"2021 25th International Conference on System Theory, Control and Computing (ICSTCC), 2021, lasi, Romania","raw_type":"Conference papers"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1522377807","https://openalex.org/W1522439181","https://openalex.org/W2065297540","https://openalex.org/W2098022952","https://openalex.org/W2766290328","https://openalex.org/W2766376746","https://openalex.org/W2884723502","https://openalex.org/W2955093014","https://openalex.org/W3007012987","https://openalex.org/W3011864363","https://openalex.org/W6674738100","https://openalex.org/W6753866883","https://openalex.org/W6765155765","https://openalex.org/W6774270829"],"related_works":["https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2996812256","https://openalex.org/W2525543468","https://openalex.org/W2026490863","https://openalex.org/W2161688277","https://openalex.org/W2366743900"],"abstract_inverted_index":{"Motion":[0],"planning":[1],"problems":[2],"benefit":[3],"greatly":[4],"from":[5],"the":[6,26,40,63,77,89,93,102],"properties":[7],"of":[8,32,71,104],"differential":[9],"flatness,":[10],"which":[11],"are":[12],"widely":[13],"employed":[14],"for":[15],"trajectory":[16,41,64],"generation":[17,42,65],"and":[18,43,56,66,75,84,107],"controller":[19],"design.":[20],"This":[21],"paper":[22],"aims":[23],"to":[24],"highlight":[25],"fact":[27],"that":[28],"various":[29,58],"flat":[30,59,73],"representations":[31],"a":[33,50],"system":[34],"can":[35],"have":[36],"different":[37,72],"implications":[38],"in":[39,69,101],"tracking":[44,67,82],"objectives.":[45],"In":[46],"particular,":[47],"we":[48],"consider":[49],"fixed-wing":[51],"UAV":[52],"(Unmanned":[53],"Aerial":[54],"Vehicle)":[55],"analyze":[57,76],"representations.":[60],"We":[61],"reformulate":[62],"problem":[68],"terms":[70],"outputs":[74],"optimal":[78],"cost,":[79],"constraints":[80],"satisfaction,":[81],"error":[83],"computational":[85],"complexity.":[86],"Insights":[87],"on":[88],"future":[90],"work":[91],"complete":[92],"analysis.":[94],"The":[95],"research":[96],"shows":[97],"promising":[98],"directions,":[99],"especially":[100],"area":[103],"disturbance":[105],"rejection":[106],"robust":[108],"control.":[109]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
