{"id":"https://openalex.org/W4389665752","doi":"https://doi.org/10.1109/iros55552.2023.10341523","title":"Hovering Control of Flapping Wings in Tandem with Multi-Rotors","display_name":"Hovering Control of Flapping Wings in Tandem with Multi-Rotors","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665752","doi":"https://doi.org/10.1109/iros55552.2023.10341523"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5030759571","display_name":"Aniket Dhole","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aniket Dhole","raw_affiliation_strings":["Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063156095","display_name":"Bibek Gupta","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bibek Gupta","raw_affiliation_strings":["Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015535724","display_name":"Adarsh Salagame","orcid":"https://orcid.org/0000-0003-4345-3299"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adarsh Salagame","raw_affiliation_strings":["Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111297013","display_name":"Xuejian Niu","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuejian Niu","raw_affiliation_strings":["Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100953821","display_name":"Yizhe Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yizhe Xu","raw_affiliation_strings":["Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042123121","display_name":"Kaushik Venkatesh Krishnamurthy","orcid":"https://orcid.org/0009-0002-5920-9688"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kaushik Venkatesh","raw_affiliation_strings":["Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103057068","display_name":"Paul Ghanem","orcid":"https://orcid.org/0000-0002-7392-0065"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Ghanem","raw_affiliation_strings":["Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074746878","display_name":"Ioannis Mandralis","orcid":"https://orcid.org/0000-0001-5270-0672"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ioannis Mandralis","raw_affiliation_strings":["California Institute of Technology,Department of Aerospace Engineering,Pasadena,USA","Department of Aerospace Engineering, California Institute of Technology, Pasadena, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Aerospace Engineering,Pasadena,USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Department of Aerospace Engineering, California Institute of Technology, Pasadena, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073800169","display_name":"Eric Sihite","orcid":"https://orcid.org/0000-0002-8653-8842"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric Sihite","raw_affiliation_strings":["California Institute of Technology,Department of Aerospace Engineering,Pasadena,USA","Department of Aerospace Engineering, California Institute of Technology, Pasadena, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Aerospace Engineering,Pasadena,USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Department of Aerospace Engineering, California Institute of Technology, Pasadena, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011356635","display_name":"Alireza Ramezani","orcid":"https://orcid.org/0000-0002-1925-1251"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alireza Ramezani","raw_affiliation_strings":["Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Silicon Synapse Labs,Department of Electrical and Computer Engineering,Boston,USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Silicon Synapse Labs, Northeastern University, Boston, USA","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.8274,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.94263649,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6639","last_page":"6644"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998999834060669,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9988999962806702,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9821000099182129,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/flapping","display_name":"Flapping","score":0.8067610263824463},{"id":"https://openalex.org/keywords/guard","display_name":"Guard (computer science)","score":0.6577320694923401},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.606329083442688},{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.5407789349555969},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5231320261955261},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5051763653755188},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.42688149213790894},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3942212462425232},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.3446919918060303},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31210988759994507},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20534241199493408},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20309486985206604}],"concepts":[{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.8067610263824463},{"id":"https://openalex.org/C141141315","wikidata":"https://www.wikidata.org/wiki/Q2379942","display_name":"Guard (computer science)","level":2,"score":0.6577320694923401},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.606329083442688},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.5407789349555969},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5231320261955261},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5051763653755188},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.42688149213790894},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3942212462425232},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.3446919918060303},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31210988759994507},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20534241199493408},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20309486985206604},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341523","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341523","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6600000262260437,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1965705114","https://openalex.org/W2035155402","https://openalex.org/W2120482921","https://openalex.org/W2416688131","https://openalex.org/W2585024272","https://openalex.org/W2774570437","https://openalex.org/W2980988810","https://openalex.org/W3000005319","https://openalex.org/W3043669307","https://openalex.org/W3089700776","https://openalex.org/W3119760668","https://openalex.org/W3170790694","https://openalex.org/W3184137407","https://openalex.org/W4311413040","https://openalex.org/W4312703909","https://openalex.org/W6847491883"],"related_works":["https://openalex.org/W1679315481","https://openalex.org/W3151495635","https://openalex.org/W4236870338","https://openalex.org/W2016917053","https://openalex.org/W1970032862","https://openalex.org/W2945493325","https://openalex.org/W2624852988","https://openalex.org/W2972082501","https://openalex.org/W2123877307","https://openalex.org/W1976686391"],"abstract_inverted_index":{"This":[0],"work":[1],"briefly":[2],"covers":[3],"our":[4],"efforts":[5],"to":[6,51,83,121],"stabilize":[7,84],"the":[8,52,110,123,127,138],"flight":[9,56,100],"dynamics":[10],"of":[11,26,55,126,137],"Northeatern's":[12],"tailless":[13],"bat-inspired":[14],"micro":[15],"aerial":[16],"vehicle,":[17],"Aerobat.":[18],"Flapping":[19],"robots":[20],"are":[21,36,130],"not":[22],"new.":[23],"A":[24],"plethora":[25],"examples":[27],"is":[28],"mainly":[29],"dominated":[30],"by":[31],"insect-style":[32],"design":[33,78],"paradigms":[34],"that":[35,49],"passively":[37],"stable.":[38],"However,":[39],"Aerobat,":[40],"in":[41,89,94],"addition":[42],"for":[43,133],"being":[44],"tailless,":[45],"possesses":[46],"morphing":[47],"wings":[48],"add":[50],"inherent":[53],"complexity":[54],"control.":[57],"The":[58],"robot":[59],"can":[60],"dynamically":[61],"adjust":[62],"its":[63,70],"wing":[64],"platform":[65],"configurations":[66],"during":[67],"gaitcycles,":[68],"increasing":[69],"efficiency":[71],"and":[72,87],"agility.":[73],"We":[74],"employ":[75],"a":[76,91,97],"guard":[77,111,128],"with":[79,96],"manifold":[80],"small":[81],"thrusters":[82],"Aerobat's":[85],"position":[86],"orientation":[88],"hovering,":[90],"flapping":[92],"system":[93],"tandem":[95],"multi-rotor.":[98],"For":[99],"control":[101,136],"purposes,":[102],"we":[103,117],"take":[104],"an":[105,119],"approach":[106],"based":[107],"on":[108],"assuming":[109],"cannot":[112],"observe":[113],"Aeroat's":[114],"states.":[115],"Then,":[116],"propose":[118],"observer":[120],"estimate":[122],"unknown":[124],"states":[125],"which":[129],"then":[131],"used":[132],"closed-loop":[134],"hovering":[135],"Guard-Aerobat":[139],"platform.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
