{"id":"https://openalex.org/W3003825778","doi":"https://doi.org/10.1109/iros40897.2019.8968099","title":"Precision Modeling and Optimally-safe Design of Quadcopters for Controlled Crash Landing in Case of Rotor Failure","display_name":"Precision Modeling and Optimally-safe Design of Quadcopters for Controlled Crash Landing in Case of Rotor Failure","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003825778","doi":"https://doi.org/10.1109/iros40897.2019.8968099","mag":"3003825778"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5071848378","display_name":"Mojtaba Hedayatpour","orcid":null},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mojtaba Hedayatpour","raw_affiliation_strings":["Ryerson University,Department of Mechanical & Industrial Engineering,Canada","Department of Mechanical & Industrial Engineering, Ryerson University, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ryerson University,Department of Mechanical & Industrial Engineering,Canada","institution_ids":["https://openalex.org/I530967"]},{"raw_affiliation_string":"Department of Mechanical & Industrial Engineering, Ryerson University, Canada","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026447228","display_name":"Mehran Mehrandezh","orcid":"https://orcid.org/0000-0003-0941-7139"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mehran Mehrandezh","raw_affiliation_strings":["Ryerson University,Department of Mechanical & Industrial Engineering,Canada","Department of Mechanical & Industrial Engineering, Ryerson University, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ryerson University,Department of Mechanical & Industrial Engineering,Canada","institution_ids":["https://openalex.org/I530967"]},{"raw_affiliation_string":"Department of Mechanical & Industrial Engineering, Ryerson University, Canada","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025228155","display_name":"Farrokh Janabi\u2010Sharifi","orcid":"https://orcid.org/0000-0002-0314-0688"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Farrokh Janabi-Sharifi","raw_affiliation_strings":["Ryerson University,Department of Mechanical & Industrial Engineering,Canada","Department of Mechanical & Industrial Engineering, Ryerson University, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ryerson University,Department of Mechanical & Industrial Engineering,Canada","institution_ids":["https://openalex.org/I530967"]},{"raw_affiliation_string":"Department of Mechanical & Industrial Engineering, Ryerson University, Canada","institution_ids":["https://openalex.org/I530967"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I530967"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5206","last_page":"5211"},"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":0.9994000196456909,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.9101685285568237},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.6586077213287354},{"id":"https://openalex.org/keywords/freestream","display_name":"Freestream","score":0.6372411251068115},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6181852221488953},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.5876080393791199},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.5776061415672302},{"id":"https://openalex.org/keywords/spinning","display_name":"Spinning","score":0.5600923895835876},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5510820746421814},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.502940833568573},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4686289131641388},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.44266119599342346},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.4283013641834259},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33170002698898315},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25170984864234924},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19295603036880493},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11938685178756714},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.10414618253707886},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09300464391708374},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07837569713592529}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.9101685285568237},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.6586077213287354},{"id":"https://openalex.org/C2776911258","wikidata":"https://www.wikidata.org/wiki/Q5501170","display_name":"Freestream","level":4,"score":0.6372411251068115},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6181852221488953},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.5876080393791199},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.5776061415672302},{"id":"https://openalex.org/C154815118","wikidata":"https://www.wikidata.org/wiki/Q453762","display_name":"Spinning","level":2,"score":0.5600923895835876},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5510820746421814},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.502940833568573},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4686289131641388},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.44266119599342346},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.4283013641834259},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33170002698898315},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25170984864234924},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19295603036880493},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11938685178756714},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.10414618253707886},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09300464391708374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07837569713592529},{"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/C182748727","wikidata":"https://www.wikidata.org/wiki/Q178932","display_name":"Reynolds number","level":3,"score":0.0},{"id":"https://openalex.org/C196558001","wikidata":"https://www.wikidata.org/wiki/Q190132","display_name":"Turbulence","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W801075716","https://openalex.org/W1549749298","https://openalex.org/W1991642951","https://openalex.org/W2016718980","https://openalex.org/W2028893450","https://openalex.org/W2054994117","https://openalex.org/W2062803637","https://openalex.org/W2076697903","https://openalex.org/W2080806544","https://openalex.org/W2337964910","https://openalex.org/W2950952658","https://openalex.org/W2964314573","https://openalex.org/W6622744941","https://openalex.org/W6664091275"],"related_works":["https://openalex.org/W4388953196","https://openalex.org/W4312713555","https://openalex.org/W3144671390","https://openalex.org/W609366245","https://openalex.org/W2513886483","https://openalex.org/W4206599012","https://openalex.org/W4385452065","https://openalex.org/W2186317423","https://openalex.org/W2621209863","https://openalex.org/W1988564139"],"abstract_inverted_index":{"The":[0],"seminal":[1],"work":[2,126],"cited":[3],"in":[4,19,90,146,154,172,212],"[1],[2]":[5],"showed,":[6],"for":[7],"the":[8,29,46,82,91,105,111,120,132,147,183,192,198,216,219],"first":[9],"time,":[10],"that":[11,80],"flight":[12,108,133],"stability":[13,106,134,211],"of":[14,21,78,110,156,191,197,215],"quadcopters":[15],"would":[16,165,206],"be":[17,55,139,166],"possible":[18],"case":[20,155],"one":[22,157],"or":[23],"even":[24],"multiple":[25],"rotor":[26,158],"failures.":[27],"However,":[28],"quadcopter":[30,112,184,217],"can":[31,54,138,174],"remain":[32],"airborne":[33,185],"only":[34],"by":[35,57,113,141,194,201],"going":[36],"through":[37],"a":[38,74,161,169,176,187],"spinning":[39,179],"maneuver":[40,164],"about":[41],"an":[42],"axis,":[43],"fixed":[44,116,143],"w.r.t":[45],"vehicle":[47],"(i.e.,":[48],"resolved":[49,162],"yaw).":[50],"Furthermore,":[51],"positional":[52],"control":[53],"achieved":[56],"periodically":[58],"tilting":[59,117,144,204],"this":[60,66],"axis.":[61],"This":[62,203],"paper":[63],"builds":[64],"upon":[65],"concept":[67],"with":[68],"two":[69],"major":[70],"improvements:":[71],"(1)":[72],"introducing":[73,114,142,168],"precise":[75],"aerodynamic":[76],"model":[77],"propellers":[79],"takes":[81],"flapping":[83],"torque":[84],"due":[85],"to":[86,97,104,119,181,209],"unbalanced":[87],"lifting":[88],"force":[89],"advancing":[92],"and":[93,101,107,135],"retreating":[94],"blades":[95,193],"subjected":[96],"freestream,":[98],"into":[99],"account,":[100],"(2)":[102],"adding":[103],"efficiency":[109,137],"symmetric":[115],"angles":[118,145],"trust":[121],"vectors.":[122,149],"In":[123],"our":[124],"previous":[125],"[3],":[127],"it":[128],"was":[129,223],"shown":[130],"how":[131],"energy":[136],"improved":[140],"thrust":[148],"For":[150],"controlled":[151],"crash":[152],"landing":[153],"failure,":[159],"where":[160],"yaw":[163,213],"inevitable,":[167],"titling":[170],"angle":[171,205],"rotors":[173],"generate":[175],"reasonable":[177],"resolved-rate-yaw":[178],"speed":[180,190],"keep":[182],"at":[186],"lower":[188],"rotational":[189],"taking":[195],"advantage":[196],"freestream":[199],"generated":[200],"spinning.":[202],"also":[207],"lead":[208],"passive":[210],"motion":[214],"before":[218],"failure.":[220],"Our":[221],"hypothesis":[222],"successfully":[224],"tested":[225],"via":[226],"simulations.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}