{"id":"https://openalex.org/W4389666265","doi":"https://doi.org/10.1109/iros55552.2023.10341796","title":"SBlimp: Design, Model, and Translational Motion Control for a Swing-Blimp","display_name":"SBlimp: Design, Model, and Translational Motion Control for a Swing-Blimp","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666265","doi":"https://doi.org/10.1109/iros55552.2023.10341796"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341796","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":"article","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/A5020281355","display_name":"Jiawei Xu","orcid":"https://orcid.org/0000-0001-9010-5081"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jiawei Xu","raw_affiliation_strings":["Lehigh University,Autonomous and Intelligent Robotics Laboratory (AIRLab),PA,USA","Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, PA, USA"],"affiliations":[{"raw_affiliation_string":"Lehigh University,Autonomous and Intelligent Robotics Laboratory (AIRLab),PA,USA","institution_ids":["https://openalex.org/I186143895"]},{"raw_affiliation_string":"Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, PA, USA","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010355779","display_name":"Diego S. D\u2019Antonio","orcid":"https://orcid.org/0000-0003-1856-1749"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Diego S. D'Antonio","raw_affiliation_strings":["Lehigh University,Autonomous and Intelligent Robotics Laboratory (AIRLab),PA,USA","Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, PA, USA"],"affiliations":[{"raw_affiliation_string":"Lehigh University,Autonomous and Intelligent Robotics Laboratory (AIRLab),PA,USA","institution_ids":["https://openalex.org/I186143895"]},{"raw_affiliation_string":"Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, PA, USA","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092655025","display_name":"Dominic J. Ammirato","orcid":null},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dominic J. Ammirato","raw_affiliation_strings":["Lehigh University,Autonomous and Intelligent Robotics Laboratory (AIRLab),PA,USA","Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, PA, USA"],"affiliations":[{"raw_affiliation_string":"Lehigh University,Autonomous and Intelligent Robotics Laboratory (AIRLab),PA,USA","institution_ids":["https://openalex.org/I186143895"]},{"raw_affiliation_string":"Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, PA, USA","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023803863","display_name":"David Salda\u00f1a","orcid":"https://orcid.org/0000-0003-2442-4257"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Salda\u00f1a","raw_affiliation_strings":["Lehigh University,Autonomous and Intelligent Robotics Laboratory (AIRLab),PA,USA","Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, PA, USA"],"affiliations":[{"raw_affiliation_string":"Lehigh University,Autonomous and Intelligent Robotics Laboratory (AIRLab),PA,USA","institution_ids":["https://openalex.org/I186143895"]},{"raw_affiliation_string":"Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, PA, USA","institution_ids":["https://openalex.org/I186143895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5020281355"],"corresponding_institution_ids":["https://openalex.org/I186143895"],"apc_list":null,"apc_paid":null,"fwci":4.853,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.94514588,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6977","last_page":"6982"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy Systems","score":1.0,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":1.0,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9889000058174133,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9793999791145325,"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/cascade","display_name":"Cascade","score":0.7069554328918457},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6981297135353088},{"id":"https://openalex.org/keywords/translational-motion","display_name":"Translational motion","score":0.6346759796142578},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.6302863359451294},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5737185478210449},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5370992422103882},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5346599817276001},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5286921262741089},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45407307147979736},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42659708857536316},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.42432278394699097},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42172113060951233},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34770017862319946},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32811808586120605},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2691909074783325},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25121116638183594},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2104799747467041},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1870695948600769},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14689171314239502},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14221474528312683},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14144518971443176},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08093667030334473}],"concepts":[{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.7069554328918457},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6981297135353088},{"id":"https://openalex.org/C2988296624","wikidata":"https://www.wikidata.org/wiki/Q211459","display_name":"Translational motion","level":2,"score":0.6346759796142578},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.6302863359451294},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5737185478210449},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5370992422103882},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5346599817276001},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5286921262741089},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45407307147979736},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42659708857536316},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.42432278394699097},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42172113060951233},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34770017862319946},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32811808586120605},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2691909074783325},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25121116638183594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2104799747467041},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1870695948600769},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14689171314239502},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14221474528312683},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14144518971443176},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08093667030334473},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical 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},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341796","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341796","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":[],"awards":[{"id":"https://openalex.org/G3991495332","display_name":null,"funder_award_id":"N00014-23-1-2535","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1521464635","https://openalex.org/W1910181223","https://openalex.org/W1988695020","https://openalex.org/W1991796493","https://openalex.org/W2027346282","https://openalex.org/W2093112454","https://openalex.org/W2096587590","https://openalex.org/W2131209557","https://openalex.org/W2139061407","https://openalex.org/W2291821294","https://openalex.org/W2313053919","https://openalex.org/W2316091897","https://openalex.org/W2481710930","https://openalex.org/W2600080636","https://openalex.org/W2617536634","https://openalex.org/W2622374420","https://openalex.org/W2770079546","https://openalex.org/W2907924447","https://openalex.org/W2982402514","https://openalex.org/W2995019788","https://openalex.org/W3016042418","https://openalex.org/W3147919432","https://openalex.org/W3154790239","https://openalex.org/W3173010120","https://openalex.org/W3178630954","https://openalex.org/W3190318309","https://openalex.org/W3205950827","https://openalex.org/W4232623755","https://openalex.org/W6746278973"],"related_works":["https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W4252778923","https://openalex.org/W2360051520","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W2351754530","https://openalex.org/W2798244654","https://openalex.org/W2378649906","https://openalex.org/W2103538480"],"abstract_inverted_index":{"We":[0,19,80],"present":[1],"an":[2],"aerial":[3],"vehicle":[4,74],"composed":[5],"of":[6,28,33,63,67,85,124],"a":[7,14,21,71,82,110],"custom":[8],"quadrotor":[9],"with":[10,101,107],"tilted":[11],"rotors":[12],"and":[13,105],"helium":[15],"balloon,":[16],"called":[17],"SBlimp.":[18],"propose":[20],"novel":[22],"control":[23,37],"strategy":[24],"that":[25,47,114],"takes":[26],"advantage":[27],"the":[29,34,45,59,64,68,73,77,86,115],"natural":[30],"stable":[31,121],"attitude":[32,49],"blimp":[35],"to":[36,50,119],"translational":[38,53,78],"motion.":[39,79],"Different":[40],"from":[41],"cascade":[42],"controllers":[43],"in":[44,98],"literature":[46],"controls":[48,58],"achieve":[51,120],"desired":[52],"motion,":[54],"our":[55,92],"approach":[56],"directly":[57],"linear":[60],"velocity":[61],"regardless":[62,123],"heading":[65],"orientation":[66],"vehicle.":[69],"As":[70],"result,":[72],"swings":[75],"during":[76],"provide":[81],"planar":[83],"analysis":[84],"dynamic":[87],"model,":[88],"demonstrating":[89],"stability":[90],"for":[91],"controller.":[93],"Our":[94],"design":[95],"is":[96,117],"evaluated":[97],"numerical":[99],"simulations":[100],"different":[102],"physical":[103],"factors":[104],"validated":[106],"experiments":[108],"using":[109],"real-world":[111],"prototype,":[112],"showing":[113],"SBlimp":[116],"able":[118],"translation":[122],"its":[125],"orientation.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}