{"id":"https://openalex.org/W4389667672","doi":"https://doi.org/10.1109/iros55552.2023.10342084","title":"Data-Based MHE for Agile Quadrotor Flight","display_name":"Data-Based MHE for Agile Quadrotor Flight","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667672","doi":"https://doi.org/10.1109/iros55552.2023.10342084"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342084","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/A5011744738","display_name":"Wonoo Choo","orcid":null},"institutions":[{"id":"https://openalex.org/I8692664","display_name":"University of Oklahoma","ror":"https://ror.org/02aqsxs83","country_code":"US","type":"education","lineage":["https://openalex.org/I8692664"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wonoo Choo","raw_affiliation_strings":["School of Aerospace and Mechanical Engineering, The University of Oklahoma,Norman,OK,USA,73019"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aerospace and Mechanical Engineering, The University of Oklahoma,Norman,OK,USA,73019","institution_ids":["https://openalex.org/I8692664"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060508527","display_name":"Erkan Kayacan","orcid":"https://orcid.org/0000-0002-4618-7515"},"institutions":[{"id":"https://openalex.org/I8692664","display_name":"University of Oklahoma","ror":"https://ror.org/02aqsxs83","country_code":"US","type":"education","lineage":["https://openalex.org/I8692664"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erkan Kayacan","raw_affiliation_strings":["School of Aerospace and Mechanical Engineering, The University of Oklahoma,Norman,OK,USA,73019"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aerospace and Mechanical Engineering, The University of Oklahoma,Norman,OK,USA,73019","institution_ids":["https://openalex.org/I8692664"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I8692664"],"apc_list":null,"apc_paid":null,"fwci":0.6452,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.76059015,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4307","last_page":"4314"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9987000226974487,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9983000159263611,"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"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9861000180244446,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.7868132591247559},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7668849229812622},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.7073109149932861},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6409565210342407},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5847538113594055},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5638806223869324},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4903755187988281},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.452802449464798},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3422943353652954},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3144913911819458},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24683767557144165},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2148207426071167},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21212521195411682},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15181511640548706}],"concepts":[{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.7868132591247559},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7668849229812622},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.7073109149932861},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6409565210342407},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5847538113594055},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5638806223869324},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4903755187988281},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.452802449464798},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3422943353652954},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3144913911819458},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24683767557144165},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2148207426071167},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21212521195411682},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15181511640548706},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342084","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W180784818","https://openalex.org/W1571870753","https://openalex.org/W2006490107","https://openalex.org/W2075694735","https://openalex.org/W2079939259","https://openalex.org/W2167340365","https://openalex.org/W2217407546","https://openalex.org/W2465948386","https://openalex.org/W2557430988","https://openalex.org/W2619551236","https://openalex.org/W2804446681","https://openalex.org/W2810019950","https://openalex.org/W2811061838","https://openalex.org/W2842089854","https://openalex.org/W2902000555","https://openalex.org/W2954115742","https://openalex.org/W3003464986","https://openalex.org/W3004169446","https://openalex.org/W3105252106","https://openalex.org/W3131850807","https://openalex.org/W3177010373","https://openalex.org/W3184774605","https://openalex.org/W3196100451","https://openalex.org/W3202883604","https://openalex.org/W3207305612","https://openalex.org/W4200304872","https://openalex.org/W4211049957","https://openalex.org/W4225919226","https://openalex.org/W4244332099"],"related_works":["https://openalex.org/W2656997359","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W1973385172","https://openalex.org/W4319430762","https://openalex.org/W2083510688","https://openalex.org/W2294820933","https://openalex.org/W4240110559"],"abstract_inverted_index":{"This":[0],"paper":[1],"develops":[2],"a":[3,70],"data-based":[4],"moving":[5],"horizon":[6],"estimation":[7,15,92,111],"(MHE)":[8],"method":[9,71,104],"for":[10,21,25],"agile":[11,26],"quadrotors.":[12],"Accurate":[13],"state":[14,63,91,110,118],"of":[16,32],"the":[17,29,37,56,62,84],"system":[18],"is":[19],"paramount":[20],"precise":[22],"trajectory":[23],"control":[24],"quadrotors;":[27],"however,":[28],"high":[30],"level":[31],"aerodynamic":[33,75],"forces":[34],"experienced":[35],"by":[36],"quadrotors":[38],"during":[39],"high-speed":[40],"flights":[41],"make":[42],"this":[43,66,103],"task":[44],"extremely":[45],"challenging.":[46],"These":[47],"complex":[48],"turbulent":[49],"effects":[50,76],"are":[51],"difficult":[52],"to":[53,72,86,116],"model":[54,73],"and":[55,89,100],"unmodelled":[57],"dynamics":[58],"introduce":[59],"inaccuracies":[60],"in":[61,109],"estimation.":[64],"In":[65],"work,":[67],"we":[68,81],"propose":[69],"these":[74],"using":[77],"Gaussian":[78],"Processes":[79],"which":[80],"integrate":[82],"into":[83],"MHE":[85],"achieve":[87],"efficient":[88],"accurate":[90],"with":[93],"minimal":[94],"computational":[95],"burden.":[96],"Through":[97],"extensive":[98],"simulation":[99],"experimental":[101],"studies,":[102],"has":[105],"demonstrated":[106],"significant":[107],"improvement":[108],"performance":[112],"displaying":[113],"superior":[114],"robustness":[115],"poor":[117],"measurements.":[119]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
