{"id":"https://openalex.org/W4389665587","doi":"https://doi.org/10.1109/iros55552.2023.10342395","title":"Aerial Manipulator Systems Gain a New Skill: Achieve Contact-based Landing on a Mobile Platform","display_name":"Aerial Manipulator Systems Gain a New Skill: Achieve Contact-based Landing on a Mobile Platform","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665587","doi":"https://doi.org/10.1109/iros55552.2023.10342395"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342395","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10342395","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/A5015404475","display_name":"Xiangdong Meng","orcid":"https://orcid.org/0000-0002-3568-3986"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]},{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiangdong Meng","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University,Nanjing,China","School of Instrument Science and Engineering, Southeast University, Nanjing, China","58th Research Institute of China Electronics Technology Group Corporation, Wuxi, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University,Nanjing,China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"58th Research Institute of China Electronics Technology Group Corporation, Wuxi, China","institution_ids":["https://openalex.org/I2800372957"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100654736","display_name":"Yuqing He","orcid":"https://orcid.org/0000-0001-5067-1169"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":null,"type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqing He","raw_affiliation_strings":["Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences,State Key Laboratory of Robotics,Shenyang,China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073232089","display_name":"Haoyang Xi","orcid":null},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyang Xi","raw_affiliation_strings":["58th Research Institute of China Electronics Technology Group Corporation,Wuxi,China","58th Research Institute of China Electronics Technology Group Corporation, Wuxi, China"],"affiliations":[{"raw_affiliation_string":"58th Research Institute of China Electronics Technology Group Corporation,Wuxi,China","institution_ids":["https://openalex.org/I2800372957"]},{"raw_affiliation_string":"58th Research Institute of China Electronics Technology Group Corporation, Wuxi, China","institution_ids":["https://openalex.org/I2800372957"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100439073","display_name":"Jianda Han","orcid":"https://orcid.org/0000-0002-9664-4534"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianda Han","raw_affiliation_strings":["College of Artificial Intelligence, Nankai University,Tianjin,China","College of Artificial Intelligence, Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University,Tianjin,China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"College of Artificial Intelligence, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048327458","display_name":"Aiguo Song","orcid":"https://orcid.org/0000-0002-1982-6780"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aiguo Song","raw_affiliation_strings":["School of Instrument Science and Engineering, Southeast University,Nanjing,China","School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University,Nanjing,China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5015404475"],"corresponding_institution_ids":["https://openalex.org/I2800372957","https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16942592,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"36","issue":null,"first_page":"4997","last_page":"5002"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980999827384949,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9979000091552734,"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/acceleration","display_name":"Acceleration","score":0.5390955209732056},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5074002146720886},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47916045784950256},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.45163801312446594},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4260445237159729},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41774672269821167},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4121638834476471},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3890336751937866},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3459763526916504},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27727001905441284},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1653306484222412},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1624109148979187}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5390955209732056},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5074002146720886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47916045784950256},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.45163801312446594},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4260445237159729},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41774672269821167},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4121638834476471},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3890336751937866},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3459763526916504},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27727001905441284},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1653306484222412},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1624109148979187},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342395","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10342395","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/G1145909303","display_name":null,"funder_award_id":"BK20210070","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G2553157553","display_name":null,"funder_award_id":"62103388","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2799944570","display_name":null,"funder_award_id":"2022M712976","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2169440744","https://openalex.org/W2506852226","https://openalex.org/W2585493154","https://openalex.org/W2788319054","https://openalex.org/W2788913075","https://openalex.org/W2810217655","https://openalex.org/W2810622842","https://openalex.org/W2891005336","https://openalex.org/W2901248500","https://openalex.org/W2904009101","https://openalex.org/W2908188234","https://openalex.org/W2944305481","https://openalex.org/W2954055669","https://openalex.org/W2997214388","https://openalex.org/W3003813887","https://openalex.org/W3004360046","https://openalex.org/W3112830500","https://openalex.org/W3114517548","https://openalex.org/W3121726350","https://openalex.org/W3130606827","https://openalex.org/W3162024654","https://openalex.org/W3174123873","https://openalex.org/W3175777965","https://openalex.org/W3201459296","https://openalex.org/W4205508625","https://openalex.org/W4206329493","https://openalex.org/W4213424679","https://openalex.org/W4226494925","https://openalex.org/W4285040080","https://openalex.org/W4285102340","https://openalex.org/W4285611143","https://openalex.org/W4288047822","https://openalex.org/W4308593408","https://openalex.org/W4312591689"],"related_works":["https://openalex.org/W2565094479","https://openalex.org/W2390829436","https://openalex.org/W1989791859","https://openalex.org/W602859758","https://openalex.org/W2006439817","https://openalex.org/W1971289376","https://openalex.org/W2379101322","https://openalex.org/W1992553864","https://openalex.org/W1487018804","https://openalex.org/W2000675896"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"a":[3,14,58,66,71,88,126],"novel":[4],"application":[5],"of":[6,41,111],"an":[7,119,132],"aerial":[8],"manipulator":[9],"(AM)-the":[10],"contact-based":[11,55,68,94,127],"landing":[12,56,134],"on":[13],"mobile":[15,43,89],"platform.":[16],"An":[17,85],"AM":[18,86,120],"is":[19,36,61,75,100,115,130],"inherently":[20],"unstable,":[21],"under-actuated,":[22],"and":[23,50,82,87,102],"usually":[24],"loses":[25],"some":[26],"DOFs":[27],"while":[28],"contacting":[29],"environments.":[30],"Meanwhile,":[31],"the":[32,42,54,78,109,116],"AM's":[33],"flight":[34,95],"state":[35],"susceptible":[37],"to":[38,64,124],"uncertain":[39],"movements":[40],"platform,":[44],"such":[45],"as":[46],"acceleration,":[47],"sudden":[48],"stopping,":[49],"reversing.":[51],"To":[52,108],"accomplish":[53],"mission,":[57],"robust":[59],"controller":[60],"first":[62,117],"designed":[63],"maintain":[65],"steady":[67],"flight.":[69],"Then":[70],"hierarchical":[72],"control":[73],"framework":[74],"applied,":[76],"integrating":[77],"controllers":[79],"in":[80,106],"free-flight":[81],"restricted-flight":[83],"stages.":[84],"platform":[90],"are":[91],"developed":[92],"for":[93,136],"experiments.":[96,107],"The":[97],"proposed":[98],"scheme":[99],"reliable":[101],"has":[103,121],"good":[104],"repeatability":[105],"best":[110],"our":[112],"knowledge,":[113],"this":[114],"time":[118],"been":[122],"implemented":[123],"conduct":[125],"landing,":[128],"which":[129],"also":[131],"innovative":[133],"approach":[135],"rotorcraft":[137],"UAVs.":[138]},"counts_by_year":[],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}