{"id":"https://openalex.org/W2087078765","doi":"https://doi.org/10.1109/iros.2013.6696531","title":"A modular aerial vehicle with redundant actuation","display_name":"A modular aerial vehicle with redundant actuation","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2087078765","doi":"https://doi.org/10.1109/iros.2013.6696531","mag":"2087078765"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696531","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/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":"Roberto Naldi","raw_affiliation_strings":["CASY-DEI, Universit\u00e0 di Bologna, Bologna, Italy","CASY-DEI, Univ. di Bologna, Bologna, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CASY-DEI, Universit\u00e0 di Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"CASY-DEI, Univ. di Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080038486","display_name":"Alessio Ricco","orcid":null},"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":"Alessio Ricco","raw_affiliation_strings":["CASY-DEI, Universit\u00e0 di Bologna, Bologna, Italy","CASY-DEI, Univ. di Bologna, Bologna, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CASY-DEI, Universit\u00e0 di Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"CASY-DEI, Univ. di Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027828418","display_name":"Andrea Serrani","orcid":"https://orcid.org/0000-0003-3281-7341"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrea Serrani","raw_affiliation_strings":["Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH, USA","Dept. of Electr. & Comput. Eng., Ohio state Univ., Columbus, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, The Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Ohio state Univ., Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]},{"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":"Lorenzo Marconi","raw_affiliation_strings":["CASY-DEI, Universit\u00e0 di Bologna, Bologna, Italy","CASY-DEI, Univ. di Bologna, Bologna, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CASY-DEI, Universit\u00e0 di Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"CASY-DEI, Univ. di Bologna, Bologna, Italy","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":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"54","issue":null,"first_page":"1393","last_page":"1398"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994000196456909,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994000196456909,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9962999820709229,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9962999820709229,"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/modular-design","display_name":"Modular design","score":0.8129290342330933},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.7691687345504761},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6067610383033752},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5786207318305969},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5510216951370239},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.494459867477417},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47984975576400757},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43352657556533813},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4115182161331177},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.32055288553237915},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31211647391319275},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2559855580329895},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16484376788139343}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8129290342330933},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7691687345504761},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6067610383033752},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5786207318305969},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5510216951370239},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.494459867477417},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47984975576400757},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43352657556533813},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4115182161331177},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.32055288553237915},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31211647391319275},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2559855580329895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16484376788139343},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6696531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696531","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/257484","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/257484","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":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W306312984","https://openalex.org/W601716642","https://openalex.org/W1489137987","https://openalex.org/W1588293909","https://openalex.org/W1655873043","https://openalex.org/W1964342070","https://openalex.org/W1982336105","https://openalex.org/W2008793719","https://openalex.org/W2015575337","https://openalex.org/W2016954207","https://openalex.org/W2026361900","https://openalex.org/W2026836521","https://openalex.org/W2038200309","https://openalex.org/W2038427383","https://openalex.org/W2051155887","https://openalex.org/W2074629158","https://openalex.org/W2082261660","https://openalex.org/W2107615213","https://openalex.org/W2113463400","https://openalex.org/W2118591176","https://openalex.org/W2125902469","https://openalex.org/W2138396958","https://openalex.org/W2142577696","https://openalex.org/W2468232490","https://openalex.org/W4246783293","https://openalex.org/W4247737228","https://openalex.org/W4255856279","https://openalex.org/W6610845606","https://openalex.org/W6635247534"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999","https://openalex.org/W4293094921"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"the":[3,27,31,58,66,70,74,107],"design":[4,33],"and":[5,43],"experimental":[6],"validation":[7],"of":[8,25,30,69,89,91,104,109,112,124],"a":[9,86,115,129],"control":[10,97],"strategy":[11,98],"for":[12],"an":[13],"innovative":[14],"modular":[15],"aerial":[16],"vehicle":[17,75],"characterized":[18],"by":[19,122,133],"redundant":[20],"actuation.":[21],"For":[22],"this":[23,110],"class":[24,111],"aircraft,":[26],"distinguishing":[28],"feature":[29],"proposed":[32,100],"-":[34,55],"which":[35,101],"sets":[36],"it":[37],"apart":[38],"from":[39,85],"standard":[40],"vertical":[41],"take-off":[42],"landing":[44],"(VTOL)":[45],"underactuated":[46],"configurations":[47],"such":[48],"as":[49],"helicopters,":[50],"ducted-fan":[51,137],"tail-sitters":[52],"or":[53],"multi-rotors":[54],"is":[56,99,102,120],"that":[57,83],"input":[59],"redundancy":[60],"can":[61,77],"be":[62,78],"employed":[63],"to":[64],"improve":[65],"dynamical":[67],"properties":[68],"system.":[71],"In":[72],"particular,":[73],"performance":[76],"enhanced":[79],"in":[80],"certain":[81],"applications":[82],"benefit":[84],"larger":[87],"number":[88],"degrees":[90],"freedom":[92],"being":[93],"simultaneously":[94],"controlled.":[95],"A":[96],"capable":[103],"globally":[105],"stabilizing":[106],"dynamics":[108],"vehicles":[113],"along":[114],"desired":[116],"trajectory.":[117],"The":[118],"methodology":[119],"validated":[121],"means":[123],"experiments":[125],"carried":[126],"out":[127],"on":[128],"special":[130],"prototype":[131],"obtained":[132],"rigidly":[134],"connecting":[135],"two":[136],"tail-sitter":[138],"UAVs.":[139]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2016-06-24T00:00:00"}