{"id":"https://openalex.org/W2027333285","doi":"https://doi.org/10.1109/iros.2012.6385917","title":"Modeling and control of a flying robot for contact inspection","display_name":"Modeling and control of a flying robot for contact inspection","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2027333285","doi":"https://doi.org/10.1109/iros.2012.6385917","mag":"2027333285"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385917","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385917","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3444515","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088786582","display_name":"Matteo Fumagalli","orcid":"https://orcid.org/0000-0003-1485-4616"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"M. Fumagalli","raw_affiliation_strings":["The Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Netherlands","Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, the Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, the Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009853783","display_name":"Roberto Naldi","orcid":"https://orcid.org/0000-0003-2440-6286"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"R. Naldi","raw_affiliation_strings":["The Faculty of Engineering, University of Bologna, Italy","Faculty of Engineering, University of Bologna, Italy#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Faculty of Engineering, University of Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"Faculty of Engineering, University of Bologna, Italy#TAB#","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049795832","display_name":"Alessandro Macchelli","orcid":"https://orcid.org/0000-0003-2258-9699"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"A. Macchelli","raw_affiliation_strings":["The Faculty of Engineering, University of Bologna, Italy","Faculty of Engineering, University of Bologna, Italy#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Faculty of Engineering, University of Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"Faculty of Engineering, University of Bologna, Italy#TAB#","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061618118","display_name":"Raffaella Carloni","orcid":"https://orcid.org/0000-0002-6051-4332"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"R. Carloni","raw_affiliation_strings":["The Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Netherlands","Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, the Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, the Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047812798","display_name":"Stefano Stramigioli","orcid":"https://orcid.org/0000-0001-8212-7387"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"S. Stramigioli","raw_affiliation_strings":["The Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Netherlands","Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, the Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, the Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101646071","display_name":"Lorenzo Marconi","orcid":"https://orcid.org/0000-0001-5519-5448"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"L. Marconi","raw_affiliation_strings":["The Faculty of Engineering, University of Bologna, Italy","Faculty of Engineering, University of Bologna, Italy#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Faculty of Engineering, University of Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"Faculty of Engineering, University of Bologna, Italy#TAB#","institution_ids":["https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":140,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3532","last_page":"3537"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9976000189781189,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7388652563095093},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5779988169670105},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5629697442054749},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5399600863456726},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.510494589805603},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44098830223083496},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34669074416160583},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27670809626579285}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7388652563095093},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5779988169670105},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5629697442054749},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5399600863456726},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.510494589805603},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44098830223083496},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34669074416160583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27670809626579285},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/iros.2012.6385917","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385917","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:ris.utwente.nl:publications/e68c8d66-556a-42d0-96fd-bdbcfdc2fa95","is_oa":false,"landing_page_url":"https://research.utwente.nl/en/publications/e68c8d66-556a-42d0-96fd-bdbcfdc2fa95","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Fumagalli, M, Naldi, R, Macchelli, A, Carloni, R, Stramigioli, S & Marconi, L 2012, Modeling and control of a flying robot for contact inspection. in Proceedings of the IEEE/RSJ International Conference Intelligent Robots and Systems. IEEE, USA, pp. 3532-3537, IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012, Vilamoura, Portugal, 7/10/12. https://doi.org/10.1109/IROS.2012.6385917","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:cris.unibo.it:11585/305145","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/305145","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:pure.atira.dk:publications/c5876a09-b774-44de-9809-3c5c2aa74417","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=84872303019&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fumagalli , M , Naldi , R , MacChelli , A , Carloni , R , Stramigioli , S &amp; Marconi , L 2012 , Modeling and control of a flying robot for contact inspection . in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 . , 6385917 , pp. 3532-3537 , 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 , Vilamoura, Algarve , Portugal , 07/10/2012 . https://doi.org/10.1109/IROS.2012.6385917","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.atira.dk:publications/c5876a09-b774-44de-9809-3c5c2aa74417","is_oa":false,"landing_page_url":"https://vbn.aau.dk/da/publications/c5876a09-b774-44de-9809-3c5c2aa74417","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fumagalli, M, Naldi, R, MacChelli, A, Carloni, R, Stramigioli, S & Marconi, L 2012, Modeling and control of a flying robot for contact inspection. in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012., 6385917, pp. 3532-3537, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 07/10/2012. https://doi.org/10.1109/IROS.2012.6385917","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:zenodo.org:3444515","is_oa":true,"landing_page_url":"https://zenodo.org/record/3444515","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3444515","is_oa":true,"landing_page_url":"https://zenodo.org/record/3444515","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W200692537","https://openalex.org/W597801117","https://openalex.org/W1487112583","https://openalex.org/W1559327333","https://openalex.org/W1564897360","https://openalex.org/W1619551699","https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W1982336105","https://openalex.org/W1991089231","https://openalex.org/W2012252652","https://openalex.org/W2017280345","https://openalex.org/W2031504112","https://openalex.org/W2038427383","https://openalex.org/W2074629158","https://openalex.org/W2113463400","https://openalex.org/W2128592712","https://openalex.org/W2131457630","https://openalex.org/W2138396958","https://openalex.org/W2139361041","https://openalex.org/W2156013594","https://openalex.org/W2171541961","https://openalex.org/W2295977886","https://openalex.org/W4205940976","https://openalex.org/W4213129399","https://openalex.org/W4230003177","https://openalex.org/W4230504900","https://openalex.org/W4246783293","https://openalex.org/W4255856279","https://openalex.org/W6608108892","https://openalex.org/W6629131329","https://openalex.org/W6697338095"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2122871747","https://openalex.org/W2000675896"],"abstract_inverted_index":{"This":[0],"paper":[1,41],"focuses":[2],"on":[3,77],"the":[4,45,49,90],"modeling":[5],"and":[6,22,58,81,93],"control":[7,62],"of":[8,16,34,39,48],"a":[9,17,23,61,78],"flying":[10,50],"robot.":[11],"The":[12,37,72],"complete":[13],"system,":[14],"composed":[15],"quadrotor":[18],"unmanned":[19],"aerial":[20],"vehicle":[21],"custom-made":[24],"manipulator,":[25],"has":[26,74],"been":[27,75],"designed":[28],"for":[29],"remote":[30],"inspection":[31],"by":[32],"contact":[33],"industrial":[35],"plants.":[36],"goal":[38],"this":[40],"is":[42],"to":[43,59,66],"show":[44,94],"dynamical":[46],"characteristics":[47],"robot":[51],"during":[52],"tasks":[53],"that":[54,64],"require":[55],"physical":[56],"interaction,":[57],"determine":[60],"strategy":[63],"allows":[65],"safely":[67],"interact":[68],"with":[69],"unknown":[70],"environments.":[71],"methodology":[73],"implemented":[76],"real":[79],"prototype":[80],"tested":[82],"in":[83],"an":[84],"indoor":[85],"area.":[86],"Experimental":[87],"results":[88],"validate":[89],"proposed":[91],"controller":[92],"its":[95],"effectiveness.":[96]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":17},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":19},{"year":2016,"cited_by_count":15},{"year":2015,"cited_by_count":15},{"year":2014,"cited_by_count":14},{"year":2013,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
