{"id":"https://openalex.org/W4416749516","doi":"https://doi.org/10.1109/iros60139.2025.11245951","title":"Learning-Based Passive Fault-Tolerant Control of a Quadrotor with Rotor Failure","display_name":"Learning-Based Passive Fault-Tolerant Control of a Quadrotor with Rotor Failure","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749516","doi":"https://doi.org/10.1109/iros60139.2025.11245951"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245951","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245951","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5103075993","display_name":"Jiehao Chen","orcid":"https://orcid.org/0009-0006-8843-0639"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiehao Chen","raw_affiliation_strings":["The Harbin Institute of Technology,School of Inteligence Science and Engineering,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"The Harbin Institute of Technology,School of Inteligence Science and Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077114481","display_name":"Kaidong Zhao","orcid":"https://orcid.org/0000-0003-3356-6994"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaidong Zhao","raw_affiliation_strings":["The Harbin Institute of Technology,School of Inteligence Science and Engineering,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"The Harbin Institute of Technology,School of Inteligence Science and Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115595098","display_name":"Zihan Liu","orcid":"https://orcid.org/0000-0002-4060-2677"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zihan Liu","raw_affiliation_strings":["The Harbin Institute of Technology,School of Inteligence Science and Engineering,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"The Harbin Institute of Technology,School of Inteligence Science and Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100677176","display_name":"Yanjie Li","orcid":"https://orcid.org/0000-0001-6091-0303"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"YanJie Li","raw_affiliation_strings":["The Harbin Institute of Technology,School of Inteligence Science and Engineering,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"The Harbin Institute of Technology,School of Inteligence Science and Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087749601","display_name":"Yunjiang Lou","orcid":"https://orcid.org/0000-0001-8203-7795"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunjiang Lou","raw_affiliation_strings":["The Harbin Institute of Technology,School of Inteligence Science and Engineering,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"The Harbin Institute of Technology,School of Inteligence Science and Engineering,Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5103075993"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38497241,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1876","last_page":"1883"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.6678000092506409,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.6678000092506409,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.1808999925851822,"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/T10740","display_name":"Wind Turbine Control Systems","score":0.016200000420212746,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/control-theory","display_name":"Control theory (sociology)","score":0.6265000104904175},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.6144000291824341},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.5511999726295471},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.503600001335144},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.47540000081062317},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4731999933719635},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.46470001339912415}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6265000104904175},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.6144000291824341},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5626000165939331},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.5511999726295471},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.503600001335144},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.47540000081062317},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4731999933719635},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4724000096321106},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.46470001339912415},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.421999990940094},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4020000100135803},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.39480000734329224},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.382999986410141},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3440000116825104},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.30730000138282776},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.2890999913215637},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.2718000113964081},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.27059999108314514}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245951","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245951","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1602281723","https://openalex.org/W1991642951","https://openalex.org/W2010647097","https://openalex.org/W2030869787","https://openalex.org/W2054994117","https://openalex.org/W2062803637","https://openalex.org/W2139494503","https://openalex.org/W2142625233","https://openalex.org/W2260899556","https://openalex.org/W2576742616","https://openalex.org/W2811286299","https://openalex.org/W2811472176","https://openalex.org/W3007187873","https://openalex.org/W3120099762","https://openalex.org/W3175254947","https://openalex.org/W4213414279","https://openalex.org/W4383108196","https://openalex.org/W4383109238","https://openalex.org/W4385413536","https://openalex.org/W4385659498","https://openalex.org/W4388904499","https://openalex.org/W4402214906","https://openalex.org/W4402449733"],"related_works":[],"abstract_inverted_index":{"This":[0,63],"paper":[1],"proposes":[2],"a":[3,48,58,73,106],"learning-based":[4],"passive":[5],"fault-tolerant":[6,94],"control":[7,90,95],"(PFTC)":[8],"method":[9],"for":[10,51],"quadrotor":[11],"capable":[12],"of":[13,85,92],"handling":[14],"arbitrary":[15],"single-rotor":[16],"failures,":[17],"including":[18],"conditions":[19],"ranging":[20],"from":[21],"fault-free":[22],"to":[23,81,144],"complete":[24],"rotor":[25,30,41],"failure,":[26],"without":[27],"requiring":[28],"any":[29],"fault":[31,53,66,83,121,136],"information":[32],"or":[33],"controller":[34,50,71],"switching.":[35],"Unlike":[36],"existing":[37],"methods":[38],"that":[39,109],"treat":[40],"faults":[42],"as":[43],"disturbances":[44],"and":[45,69,117,125,139,147,151],"rely":[46],"on":[47],"single":[49],"multiple":[52,82],"scenarios,":[54],"our":[55],"approach":[56],"introduces":[57],"novel":[59],"Selector-Controller":[60],"network":[61,102],"structure.":[62],"architecture":[64],"integrates":[65],"detection":[67],"module":[68],"the":[70,79,88,100,129],"into":[72],"unified":[74],"policy":[75,101],"network,":[76],"effectively":[77],"combining":[78],"adaptability":[80],"scenarios":[84],"PFTC":[86,146],"with":[87,120],"superior":[89],"performance":[91,142],"active":[93],"(AFTC).":[96],"To":[97],"optimize":[98],"performance,":[99],"is":[103],"trained":[104],"using":[105],"hybrid":[107],"framework":[108],"synergizes":[110],"reinforcement":[111],"learning":[112,119],"(RL),":[113],"behavior":[114],"cloning":[115],"(BC),":[116],"supervised":[118],"information.":[122],"Extensive":[123],"simulations":[124],"real-world":[126],"experiments":[127],"validate":[128],"proposed":[130],"method,":[131],"demonstrating":[132],"significant":[133],"improvements":[134],"in":[135],"response":[137],"speed":[138],"position":[140],"tracking":[141],"compared":[143],"state-of-the-art":[145],"AFTC":[148],"approaches.":[149],"Video":[150],"code":[152],"will":[153],"be":[154],"available":[155],"at":[156],"https://github.com/HITSZcjh/uav_ftc.":[157]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}