{"id":"https://openalex.org/W2994887143","doi":"https://doi.org/10.1109/lra.2019.2958473","title":"Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators","display_name":"Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators","publication_year":2019,"publication_date":"2019-12-10","ids":{"openalex":"https://openalex.org/W2994887143","doi":"https://doi.org/10.1109/lra.2019.2958473","mag":"2994887143"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2958473","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2958473","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ris.utwente.nl/ws/files/249977955/Nava_2020_Direct_force_feedback_control_and_o.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004259374","display_name":"Gabriele Nava","orcid":"https://orcid.org/0000-0001-8965-2934"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Gabriele Nava","raw_affiliation_strings":["DIBRIS, University of Genova, Genova, Italy","Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8965-2934","affiliations":[{"raw_affiliation_string":"DIBRIS, University of Genova, Genova, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020642632","display_name":"Quentin Sabl\u00e9","orcid":"https://orcid.org/0000-0001-9153-7927"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Quentin Sable","raw_affiliation_strings":["LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France"],"raw_orcid":"https://orcid.org/0000-0001-9153-7927","affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026415911","display_name":"Marco Tognon","orcid":"https://orcid.org/0000-0003-1700-9637"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Marco Tognon","raw_affiliation_strings":["LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France"],"raw_orcid":"https://orcid.org/0000-0003-1700-9637","affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081455901","display_name":"Daniele Pucci","orcid":"https://orcid.org/0000-0002-7600-3203"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Pucci","raw_affiliation_strings":["Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0002-7600-3203","affiliations":[{"raw_affiliation_string":"Dynamic Interaction Control, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001771133","display_name":"Antonio Franchi","orcid":"https://orcid.org/0000-0002-5670-1282"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["FR","NL"],"is_corresponding":false,"raw_author_name":"Antonio Franchi","raw_affiliation_strings":["LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France","Robotics and Mechatronics Lab, Faculty of Electrical Engineering, Mathematics & Computer Science, University of Twente, Enschede, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-5670-1282","affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"Robotics and Mechatronics Lab, Faculty of Electrical Engineering, Mathematics & Computer Science, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5004259374"],"corresponding_institution_ids":["https://openalex.org/I30771326","https://openalex.org/I83816512"],"apc_list":null,"apc_paid":null,"fwci":3.1647,"has_fulltext":true,"cited_by_count":82,"citation_normalized_percentile":{"value":0.93767032,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"5","issue":"2","first_page":"331","last_page":"338"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991000294685364,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"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/control-theory","display_name":"Control theory (sociology)","score":0.6558663845062256},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5733975768089294},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5360150337219238},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5160457491874695},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4683109223842621},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.45452678203582764},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.44385606050491333},{"id":"https://openalex.org/keywords/propeller","display_name":"Propeller","score":0.42323359847068787},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41584512591362},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3544795513153076},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3201465606689453},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3155882954597473},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23047056794166565},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.18382245302200317},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16351613402366638}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6558663845062256},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5733975768089294},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5360150337219238},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5160457491874695},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4683109223842621},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.45452678203582764},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.44385606050491333},{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.42323359847068787},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41584512591362},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3544795513153076},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3201465606689453},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3155882954597473},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23047056794166565},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.18382245302200317},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16351613402366638},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine 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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/lra.2019.2958473","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2958473","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:ris.utwente.nl:openaire/52862db8-7c7d-417b-8bcf-cb623788cb8d","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/52862db8-7c7d-417b-8bcf-cb623788cb8d","pdf_url":"https://ris.utwente.nl/ws/files/249977955/Nava_2020_Direct_force_feedback_control_and_o.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Nava, G, Sabl\u00e9, Q, Tognon, M, Pucci, D & Franchi, A 2020, 'Direct Force Feedback Control and Online Multi-task Optimization for Aerial Manipulators', IEEE Robotics and automation letters, vol. 5, no. 2, pp. 331-338. https://doi.org/10.1109/LRA.2019.2958473","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:HAL:hal-02453407v1","is_oa":false,"landing_page_url":"https://laas.hal.science/hal-02453407","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2020, 5 (2), pp.331-338. ⟨10.1109/LRA.2019.2958473⟩","raw_type":"Journal articles"},{"id":"pmh:oai:iris.uniroma1.it:11573/1688365","is_oa":true,"landing_page_url":"https://hdl.handle.net/11573/1688365","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:ris.utwente.nl:publications/52862db8-7c7d-417b-8bcf-cb623788cb8d","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:ris.utwente.nl:openaire/52862db8-7c7d-417b-8bcf-cb623788cb8d","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/52862db8-7c7d-417b-8bcf-cb623788cb8d","pdf_url":"https://ris.utwente.nl/ws/files/249977955/Nava_2020_Direct_force_feedback_control_and_o.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"Nava, G, Sabl\u00e9, Q, Tognon, M, Pucci, D & Franchi, A 2020, 'Direct Force Feedback Control and Online Multi-task Optimization for Aerial Manipulators', IEEE Robotics and automation letters, vol. 5, no. 2, pp. 331-338. https://doi.org/10.1109/LRA.2019.2958473","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.41999998688697815}],"awards":[{"id":"https://openalex.org/G6876561401","display_name":null,"funder_award_id":"ANR-18","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G8911057233","display_name":null,"funder_award_id":"ANR-18-CE33-0001","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2994887143.pdf","grobid_xml":"https://content.openalex.org/works/W2994887143.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W123159832","https://openalex.org/W618254468","https://openalex.org/W1495727713","https://openalex.org/W1964573745","https://openalex.org/W2013439434","https://openalex.org/W2019896740","https://openalex.org/W2086829888","https://openalex.org/W2167340365","https://openalex.org/W2170620126","https://openalex.org/W2464496370","https://openalex.org/W2560781825","https://openalex.org/W2567501038","https://openalex.org/W2753763272","https://openalex.org/W2789696912","https://openalex.org/W2792083172","https://openalex.org/W2794308024","https://openalex.org/W2897428232","https://openalex.org/W2904009101","https://openalex.org/W2954055669","https://openalex.org/W2966182590","https://openalex.org/W6655188812","https://openalex.org/W6684816303"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4379143281","https://openalex.org/W2605096541","https://openalex.org/W3200286695"],"abstract_inverted_index":{"In":[0],"this":[1,50],"letter":[2],"we":[3],"present":[4],"an":[5],"optimization-based":[6],"method":[7],"for":[8],"controlling":[9],"aerial":[10,53],"manipulators":[11],"in":[12,99,103,134],"physical":[13],"contact":[14,74],"with":[15,39,66,107,116],"the":[16,52,63,94,100,126,131,135],"environment.":[17],"The":[18],"multi-task":[19],"control":[20],"problem,":[21],"which":[22,44],"includes":[23],"hybrid":[24],"force-motion":[25],"tasks,":[26,28,31,65],"energetic":[27],"and":[29,41,81,110,120,128],"position/postural":[30],"is":[32,45,97],"recast":[33],"as":[34,73],"a":[35,117,121],"quadratic":[36],"programming":[37],"problem":[38],"equality":[40],"inequality":[42],"constraints,":[43],"solved":[46],"online.":[47],"Thanks":[48],"to":[49,61,105],"method,":[51],"platform":[54,119],"can":[55],"be":[56],"exploited":[57],"at":[58,93],"its":[59],"best":[60],"perform":[62],"multi-objective":[64],"tunable":[67],"priorities,":[68],"while":[69],"hard":[70],"constraints":[71],"such":[72],"maintenance,":[75],"friction":[76],"cones,":[77],"joint":[78],"limits,":[79],"maximum":[80],"minimum":[82],"propeller":[83],"speeds":[84],"are":[85],"all":[86],"respected.":[87],"An":[88],"on-board":[89],"force/torque":[90],"sensor":[91],"mounted":[92],"end":[95],"effector":[96],"used":[98],"feedback":[101],"loop":[102],"order":[104],"cope":[106],"model":[108],"inaccuracies":[109],"reject":[111],"external":[112],"disturbances.":[113],"Real":[114],"experiments":[115],"multi-rotor":[118],"multi-DoF":[122],"lightweight":[123],"manipulator":[124],"demonstrate":[125],"applicability":[127],"effectiveness":[129],"of":[130],"proposed":[132],"approach":[133],"real":[136],"world.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":22},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":7}],"updated_date":"2026-06-05T09:01:59.212387","created_date":"2025-10-10T00:00:00"}