{"id":"https://openalex.org/W2081989617","doi":"https://doi.org/10.1109/iros.2013.6697186","title":"Hierarchical control of a team of quadrotors for cooperative active target tracking","display_name":"Hierarchical control of a team of quadrotors for cooperative active target tracking","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2081989617","doi":"https://doi.org/10.1109/iros.2013.6697186","mag":"2081989617"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6697186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697186","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-00961527","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059104886","display_name":"Utku G\u00fcrc\u00fco\u011flu","orcid":"https://orcid.org/0000-0002-9323-8581"},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]},{"id":"https://openalex.org/I4210102556","display_name":"K Lab (United States)","ror":"https://ror.org/010zs2155","country_code":"US","type":"company","lineage":["https://openalex.org/I4210102556"]},{"id":"https://openalex.org/I4210143820","display_name":"Atmospheric and Space Technology Research Associates (United States)","ror":"https://ror.org/04jzxg282","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143820"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Utku Gurcuoglu","raw_affiliation_strings":["University of Texas at Arlington, Arlington, TX, US","ASTRA lab (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Arlington, Arlington, TX, US","institution_ids":["https://openalex.org/I189196454"]},{"raw_affiliation_string":"ASTRA lab (United States)","institution_ids":["https://openalex.org/I4210143820","https://openalex.org/I4210102556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087281826","display_name":"Gustavo A. Puerto-Souza","orcid":null},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]},{"id":"https://openalex.org/I4210102556","display_name":"K Lab (United States)","ror":"https://ror.org/010zs2155","country_code":"US","type":"company","lineage":["https://openalex.org/I4210102556"]},{"id":"https://openalex.org/I4210143820","display_name":"Atmospheric and Space Technology Research Associates (United States)","ror":"https://ror.org/04jzxg282","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143820"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gustavo A. Puerto-Souza","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Texas at Arlington, Arlington, TX, USA","ASTRA lab (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Texas at Arlington, Arlington, TX, USA","institution_ids":["https://openalex.org/I189196454"]},{"raw_affiliation_string":"ASTRA lab (United States)","institution_ids":["https://openalex.org/I4210143820","https://openalex.org/I4210102556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026787189","display_name":"Fabio Morbidi","orcid":"https://orcid.org/0000-0002-7187-3410"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"id":"https://openalex.org/I4210124956","display_name":"GIPSA-Lab","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Fabio Morbidi","raw_affiliation_strings":["NeCS team, INRIA Grenoble Rh\u00f4ne-Alpes, France","GIPSA-lab - Grenoble Images Parole Signal Automatique (GIPSA-lab \r\n11 rue des Math\u00e9matiques, Grenoble Campus \r\nBP46\r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)","NECS - Networked Controlled Systems (Centre de Recherche Inria\r\n655 Avenue de l'Europe, \r\n38330 Montbonnot-Saint-Martin\r\n\r\nGIPSA-lab\r\nGIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, \r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NeCS team, INRIA Grenoble Rh\u00f4ne-Alpes, France","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]},{"raw_affiliation_string":"GIPSA-lab - Grenoble Images Parole Signal Automatique (GIPSA-lab \r\n11 rue des Math\u00e9matiques, Grenoble Campus \r\nBP46\r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)","institution_ids":["https://openalex.org/I4210124956"]},{"raw_affiliation_string":"NECS - Networked Controlled Systems (Centre de Recherche Inria\r\n655 Avenue de l'Europe, \r\n38330 Montbonnot-Saint-Martin\r\n\r\nGIPSA-lab\r\nGIPSA-lab, 11 rue des Math\u00e9matiques, Grenoble Campus BP46, \r\nF-38402 SAINT MARTIN D'HERES CEDEX - France)","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I4210124956"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113627127","display_name":"Gian Luca Mariottini","orcid":null},"institutions":[{"id":"https://openalex.org/I189196454","display_name":"The University of Texas at Arlington","ror":"https://ror.org/019kgqr73","country_code":"US","type":"education","lineage":["https://openalex.org/I189196454"]},{"id":"https://openalex.org/I4210102556","display_name":"K Lab (United States)","ror":"https://ror.org/010zs2155","country_code":"US","type":"company","lineage":["https://openalex.org/I4210102556"]},{"id":"https://openalex.org/I4210143820","display_name":"Atmospheric and Space Technology Research Associates (United States)","ror":"https://ror.org/04jzxg282","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143820"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gian Luca Mariottini","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Texas at Arlington, Arlington, TX, USA","ASTRA lab (United States)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Texas at Arlington, Arlington, TX, USA","institution_ids":["https://openalex.org/I189196454"]},{"raw_affiliation_string":"ASTRA lab (United States)","institution_ids":["https://openalex.org/I4210143820","https://openalex.org/I4210102556"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.464,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.84819388,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5730","last_page":"5735"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9965000152587891,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/control-theory","display_name":"Control theory (sociology)","score":0.6819549798965454},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6393897533416748},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.6148048639297485},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6108912825584412},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5879218578338623},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5354030132293701},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5330103039741516},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5139917731285095},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4628232419490814},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.44212600588798523},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43012794852256775},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2492062747478485},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22942137718200684},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1461612582206726}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6819549798965454},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6393897533416748},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.6148048639297485},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6108912825584412},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5879218578338623},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5354030132293701},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5330103039741516},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5139917731285095},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4628232419490814},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.44212600588798523},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43012794852256775},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2492062747478485},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22942137718200684},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1461612582206726},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6697186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697186","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:HAL:hal-00961527v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00961527","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":"IROS 2013 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. pp.5730-5735, ⟨10.1109/IROS.2013.6697186⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-00961527v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00961527","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":"IROS 2013 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. pp.5730-5735, ⟨10.1109/IROS.2013.6697186⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W316798226","https://openalex.org/W1506975760","https://openalex.org/W1521528529","https://openalex.org/W1531532259","https://openalex.org/W1788292158","https://openalex.org/W1969282030","https://openalex.org/W1973734421","https://openalex.org/W2041094000","https://openalex.org/W2104969271","https://openalex.org/W2105837036","https://openalex.org/W2109656638","https://openalex.org/W2114144879","https://openalex.org/W2135536848","https://openalex.org/W2143670637","https://openalex.org/W2148182166","https://openalex.org/W2153357054","https://openalex.org/W2155377758","https://openalex.org/W2155881359","https://openalex.org/W2160540358","https://openalex.org/W4240790602","https://openalex.org/W6631267701"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W2354676191","https://openalex.org/W3188646203","https://openalex.org/W2909957174","https://openalex.org/W136674370","https://openalex.org/W4246278799","https://openalex.org/W2105527480","https://openalex.org/W2052387497","https://openalex.org/W2050203848","https://openalex.org/W2050191802"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,10,31,59,96],"novel":[4],"active":[5],"target":[6,72],"tracking":[7,48],"strategy":[8],"for":[9,36,44,65,84],"team":[11],"of":[12,26,49,54,70,112],"cooperating":[13],"quadrotors":[14,90],"equipped":[15],"with":[16],"3-D":[17],"range-finding":[18],"sensors.":[19],"The":[20],"work":[21],"builds":[22],"upon":[23],"previous":[24],"research":[25],"the":[27,37,45,50,55,71,81,85,89,110,113],"authors,":[28],"and":[29,47,58,100,106],"adopts":[30],"realistic":[32],"nonlinear":[33],"dynamic":[34],"model":[35],"quadrotors.":[38],"A":[39],"hierarchical":[40],"controller":[41],"is":[42,63,78],"designed":[43],"generation":[46],"desired":[51],"optimal":[52],"trajectories":[53],"aerial":[56],"vehicles,":[57],"discrete-time":[60],"Kalman":[61],"filter":[62],"used":[64],"fusing":[66],"their":[67],"local":[68,102],"estimates":[69],"position.":[73],"Under":[74],"suitable":[75],"conditions,":[76],"it":[77],"shown":[79],"that":[80,88],"cost":[82],"function":[83],"D-optimality":[86],"criterion":[87],"aim":[91],"at":[92],"collaboratively":[93],"reduce,":[94],"possesses":[95],"single":[97],"global":[98],"minimum":[99],"no":[101],"minima.":[103],"Numerical":[104],"simulations":[105],"real-world":[107],"experiments":[108],"show":[109],"effectiveness":[111],"proposed":[114],"control":[115],"strategy.":[116]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}