{"id":"https://openalex.org/W2106834808","doi":"https://doi.org/10.1109/iros.2009.5354465","title":"A minimalist control strategy for small UAVs","display_name":"A minimalist control strategy for small UAVs","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2106834808","doi":"https://doi.org/10.1109/iros.2009.5354465","mag":"2106834808"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/record/139024/files/Leven_IROS2009.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056659766","display_name":"Severin Leven","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Severin Leven","raw_affiliation_strings":["Laboratory of Intelligent Systems, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Laboratory of Intelligent Systems (LIS), CH-1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Laboratory of Intelligent Systems (LIS), CH-1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110230721","display_name":"Jean\u2010Christophe Zufferey","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jean-Christophe Zufferey","raw_affiliation_strings":["Laboratory of Intelligent Systems, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Laboratory of Intelligent Systems (LIS), CH-1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Laboratory of Intelligent Systems (LIS), CH-1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059369445","display_name":"Dario Floreano","orcid":"https://orcid.org/0000-0002-5330-4863"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dario Floreano","raw_affiliation_strings":["Laboratory of Intelligent Systems, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Laboratory of Intelligent Systems (LIS), CH-1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Systems, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Laboratory of Intelligent Systems (LIS), CH-1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5056659766"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":7.1186,"has_fulltext":true,"cited_by_count":36,"citation_normalized_percentile":{"value":0.97414442,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2873","last_page":"2878"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9993000030517578,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991000294685364,"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/autopilot","display_name":"Autopilot","score":0.9343909025192261},{"id":"https://openalex.org/keywords/airspeed","display_name":"Airspeed","score":0.9127342700958252},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.7342133522033691},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.6597700119018555},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6100660562515259},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5739132761955261},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5135796070098877},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4411216080188751},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40448540449142456},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2518054246902466},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.23560476303100586},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17625901103019714}],"concepts":[{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.9343909025192261},{"id":"https://openalex.org/C26572238","wikidata":"https://www.wikidata.org/wiki/Q1197176","display_name":"Airspeed","level":2,"score":0.9127342700958252},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.7342133522033691},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.6597700119018555},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6100660562515259},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5739132761955261},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5135796070098877},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4411216080188751},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40448540449142456},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2518054246902466},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.23560476303100586},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17625901103019714},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2009.5354465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.tind.io:139024","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/139024","pdf_url":"https://infoscience.epfl.ch/record/139024/files/Leven_IROS2009.pdf","source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.tind.io:139024","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/139024","pdf_url":"https://infoscience.epfl.ch/record/139024/files/Leven_IROS2009.pdf","source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2106834808.pdf","grobid_xml":"https://content.openalex.org/works/W2106834808.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W160501011","https://openalex.org/W1576399034","https://openalex.org/W1799931676","https://openalex.org/W1970712049","https://openalex.org/W2003668616","https://openalex.org/W2021089163","https://openalex.org/W2030173633","https://openalex.org/W2037539475","https://openalex.org/W2039239794","https://openalex.org/W2110448882","https://openalex.org/W2123656427","https://openalex.org/W2125620617","https://openalex.org/W2133444666","https://openalex.org/W2135661092","https://openalex.org/W2165298539","https://openalex.org/W2328871934","https://openalex.org/W2521318719","https://openalex.org/W2533779810","https://openalex.org/W2570913949","https://openalex.org/W6634519950","https://openalex.org/W6638225587","https://openalex.org/W6642632685","https://openalex.org/W6731856959"],"related_works":["https://openalex.org/W2528333064","https://openalex.org/W2357122534","https://openalex.org/W2159456118","https://openalex.org/W2148668825","https://openalex.org/W4287557383","https://openalex.org/W4381387826","https://openalex.org/W3213831693","https://openalex.org/W2895559014","https://openalex.org/W1557446962","https://openalex.org/W199420423"],"abstract_inverted_index":{"Most":[0],"autopilots":[1],"of":[2,19,30,45,99,134,164],"existing":[3],"miniature":[4],"unmanned":[5],"air":[6],"vehicles":[7],"(MUAVs)":[8],"rely":[9,126],"on":[10,127,148],"control":[11,88,105,123,143],"architectures":[12],"that":[13,55,93],"typically":[14],"use":[15,121],"a":[16,26,34,42,68,86,113,149,161],"large":[17],"number":[18],"sensors":[20,111,132],"(gyros,":[21],"accelerometers,":[22],"magnetometers,":[23],"GPS)":[24],"and":[25,48,73,102,112,169],"computationally":[27],"demanding":[28],"estimation":[29],"flight":[31,156],"states.":[32],"As":[33],"consequence,":[35],"they":[36],"tend":[37],"to":[38,140,167,176],"be":[39],"complex,":[40],"require":[41],"significant":[43],"amount":[44],"processing":[46],"power":[47],"are":[49],"usually":[50],"expensive.":[51],"Many":[52],"research":[53],"projects":[54],"aim":[56],"at":[57],"experiments":[58],"with":[59],"one,":[60],"or":[61],"even":[62],"several,":[63],"MUAVs":[64,92],"would":[65],"benefit":[66],"from":[67,130],"simpler,":[69],"potentially":[70],"smaller,":[71],"lighter":[72],"less":[74],"expensive":[75],"autopilot":[76],"for":[77,90],"their":[78],"flying":[79],"platforms.":[80],"In":[81,138],"this":[82],"paper,":[83],"we":[84,120,158],"present":[85],"minimalist":[87],"strategy":[89],"fixed-wing":[91],"provides":[94],"the":[95,131,142],"three":[96],"basic":[97],"functionalities":[98],"airspeed,":[100],"altitude":[101,168],"heading":[103],"turnrate":[104,170],"while":[106],"only":[107],"using":[108],"two":[109],"pressure":[110],"single-axis":[114],"rate":[115],"gyro.":[116],"To":[117],"achieve":[118],"this,":[119],"reactive":[122],"loops,":[124],"which":[125],"direct":[128],"feedback":[129],"instead":[133],"full":[135],"state":[136],"information.":[137],"order":[139],"characterize":[141],"strategy,":[144],"it":[145],"was":[146],"implemented":[147],"custom-made":[150],"autopilot.":[151],"With":[152],"data":[153],"recorded":[154],"during":[155],"experiments,":[157],"carried":[159],"out":[160],"statistical":[162],"analysis":[163],"step":[165],"responses":[166,175],"commands":[171],"as":[172,174],"well":[173],"artificial":[177],"perturbations.":[178]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
