{"id":"https://openalex.org/W3005993086","doi":"https://doi.org/10.1109/lra.2020.2972855","title":"Image-Based Estimation, Planning, and Control of a Cable-Suspended Payload for Package Delivery","display_name":"Image-Based Estimation, Planning, and Control of a Cable-Suspended Payload for Package Delivery","publication_year":2020,"publication_date":"2020-02-11","ids":{"openalex":"https://openalex.org/W3005993086","doi":"https://doi.org/10.1109/lra.2020.2972855","mag":"3005993086"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2972855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2972855","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033068196","display_name":"Dejun Guo","orcid":"https://orcid.org/0000-0002-5331-4228"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dejun Guo","raw_affiliation_strings":["Department of Mechanical Engineering, University of Utah, Salt Lake City, USA","UBTECH North America R&D Center, Pasadena, USA"],"raw_orcid":"https://orcid.org/0000-0002-5331-4228","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Utah, Salt Lake City, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"UBTECH North America R&D Center, Pasadena, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027538794","display_name":"Kam K. Leang","orcid":"https://orcid.org/0000-0003-1189-1673"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kam K. Leang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Utah, Salt Lake City, USA","University of Utah Robotics Center, Salt Lake City, USA"],"raw_orcid":"https://orcid.org/0000-0003-1189-1673","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Utah, Salt Lake City, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"University of Utah Robotics Center, Salt Lake City, USA","institution_ids":["https://openalex.org/I223532165"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I223532165"],"apc_list":null,"apc_paid":null,"fwci":30.7354,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.99148194,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"5","issue":"2","first_page":"2698","last_page":"2705"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.7746837735176086},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.665142297744751},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5846137404441833},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5104195475578308},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5089311599731445},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5011510848999023},{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.4260811507701874},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42063191533088684},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4084721505641937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3712085485458374},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34829437732696533},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3459172248840332},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.11143955588340759},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10072445869445801},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08998200297355652}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7746837735176086},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.665142297744751},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5846137404441833},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5104195475578308},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5089311599731445},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5011510848999023},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.4260811507701874},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42063191533088684},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4084721505641937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3712085485458374},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34829437732696533},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3459172248840332},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.11143955588340759},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10072445869445801},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08998200297355652},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2972855","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2972855","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.49000000953674316}],"awards":[{"id":"https://openalex.org/G6139773873","display_name":"PFI:BIC:  Enhanced Situational Awareness Using Unmanned Autonomous Systems for Disaster Remediation","funder_award_id":"1430328","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W65153156","https://openalex.org/W1514444483","https://openalex.org/W1608603052","https://openalex.org/W1889833835","https://openalex.org/W1979026305","https://openalex.org/W2024591926","https://openalex.org/W2024763827","https://openalex.org/W2038446274","https://openalex.org/W2042470517","https://openalex.org/W2100249329","https://openalex.org/W2121385616","https://openalex.org/W2128589587","https://openalex.org/W2144042618","https://openalex.org/W2162991084","https://openalex.org/W2461032501","https://openalex.org/W2491164576","https://openalex.org/W2589092250","https://openalex.org/W2620500291","https://openalex.org/W2735140382","https://openalex.org/W2783345620","https://openalex.org/W2811183082","https://openalex.org/W2889281165","https://openalex.org/W2892205895","https://openalex.org/W3100317591","https://openalex.org/W3146047311"],"related_works":["https://openalex.org/W2497204748","https://openalex.org/W4281395624","https://openalex.org/W2351684991","https://openalex.org/W1561345858","https://openalex.org/W2539932329","https://openalex.org/W1983113136","https://openalex.org/W2392989031","https://openalex.org/W4367316808","https://openalex.org/W2908573450","https://openalex.org/W2039317814"],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"an":[3,8],"image-based":[4],"approach":[5],"that":[6,216],"enables":[7],"aerial":[9],"robot":[10,218],"with":[11,19,43,228],"a":[12,17,33,61,71,86,202],"cable-suspended":[13],"mechanism":[14],"to":[15,120,136,147,150,168,182,196,208],"find":[16],"payload":[18,198],"unknown":[20],"mass,":[21],"pick":[22,37,221],"it":[23,30,213],"up,":[24],"transport":[25],"it,":[26],"and":[27,38,57,65,117,131,189,223],"then":[28],"put":[29],"down":[31],"at":[32],"new":[34,48,72],"location.":[35],"The":[36,97,128,158],"place":[39],"task":[40,205],"is":[41,50,90,101,111,118,134,165,180,194,206,214],"performed":[42,207],"minimum":[44,229],"cable-swing":[45,230],"angle.":[46,157,231],"A":[47,176],"process":[49],"presented":[51],"for":[52,92,172],"state":[53],"estimation,":[54],"trajectory":[55,160],"planning,":[56],"dynamic":[58],"control":[59,132],"using":[60],"single":[62],"onboard":[63],"camera":[64],"inertia":[66],"measurement":[67],"unit":[68],"(IMU).":[69],"Specifically,":[70],"nonlinear":[73],"observer,":[74],"which":[75,110],"does":[76],"not":[77],"require":[78],"localization":[79],"information":[80],"from":[81,113],"external":[82],"sensors":[83],"(such":[84],"as":[85],"motion":[87],"capture":[88],"system),":[89],"created":[91],"controlling":[93],"the":[94,106,114,122,126,141,152,155,162,173,184,190,210,217],"robot's":[95,115],"velocity.":[96],"outer":[98],"position-control":[99],"loop":[100],"designed":[102],"in":[103,140],"terms":[104],"of":[105,125,154,161,186],"invariant":[107],"image":[108,174],"feature":[109],"decoupled":[112],"attitude":[116],"proved":[119],"be":[121,137],"flat":[123],"outputs":[124],"system.":[127],"combined":[129],"estimation":[130],"scheme":[133],"shown":[135,215],"asymptotically":[138],"stable":[139],"Lyapunov":[142],"sense,":[143],"where":[144,212],"damping":[145],"due":[146],"air":[148],"contributes":[149],"stabilizing":[151],"rates":[153],"swing":[156,199],"optimal":[159],"Euclidean":[163],"homography":[164],"efficiently":[166],"generated":[167],"obtain":[169],"dynamically-feasible":[170],"trajectories":[171],"features.":[175],"least-square":[177],"identification":[178],"technique":[179,193],"employed":[181],"estimate":[183],"mass":[185],"each":[187],"payload,":[188],"input":[191],"shaping":[192],"implemented":[195],"reduce":[197],"motion.":[200],"Finally,":[201],"practical":[203],"package-delivery":[204],"validate":[209],"process,":[211],"can":[219],"effectively":[220],"up":[222],"deliver":[224],"payloads":[225],"on":[226],"command":[227]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}