{"id":"https://openalex.org/W3208730461","doi":"https://doi.org/10.1109/lra.2021.3124077","title":"Architecture Design and Flight Control of a Novel Octopus Shaped Multirotor Vehicle","display_name":"Architecture Design and Flight Control of a Novel Octopus Shaped Multirotor Vehicle","publication_year":2021,"publication_date":"2021-11-02","ids":{"openalex":"https://openalex.org/W3208730461","doi":"https://doi.org/10.1109/lra.2021.3124077","mag":"3208730461"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3124077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3124077","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072667003","display_name":"Sijia Wang","orcid":"https://orcid.org/0000-0001-7583-9474"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sijia Wang","raw_affiliation_strings":["School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0001-7583-9474","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064304208","display_name":"Lei Ma","orcid":"https://orcid.org/0000-0002-0906-3978"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Ma","raw_affiliation_strings":["School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-0906-3978","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100406161","display_name":"Binbin Li","orcid":"https://orcid.org/0000-0001-8779-4322"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Binbin Li","raw_affiliation_strings":["School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013478278","display_name":"Kai Zhang","orcid":"https://orcid.org/0000-0001-7683-3488"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Zhang","raw_affiliation_strings":["School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0001-7683-3488","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1109,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.77876198,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"7","issue":"1","first_page":"311","last_page":"317"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973999857902527,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/multirotor","display_name":"Multirotor","score":0.7650501728057861},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.6364197731018066},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6020499467849731},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.49339547753334045},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4801599383354187},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45141932368278503},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4476029574871063},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4137907922267914},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4133097231388092},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4120596647262573},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3739546537399292},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.22993281483650208},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07858571410179138},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06990644335746765}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.7650501728057861},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.6364197731018066},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6020499467849731},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.49339547753334045},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4801599383354187},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45141932368278503},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4476029574871063},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4137907922267914},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4133097231388092},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4120596647262573},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3739546537399292},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.22993281483650208},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07858571410179138},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06990644335746765},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3124077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3124077","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.47999998927116394}],"awards":[{"id":"https://openalex.org/G3045544744","display_name":null,"funder_award_id":"61903312","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5139284366","display_name":null,"funder_award_id":"2682020CX18","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G802556646","display_name":null,"funder_award_id":"61733015","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1584143882","https://openalex.org/W2055229421","https://openalex.org/W2183005511","https://openalex.org/W2418601359","https://openalex.org/W2585105484","https://openalex.org/W2735604656","https://openalex.org/W2769180486","https://openalex.org/W2770064880","https://openalex.org/W2783840519","https://openalex.org/W2790708554","https://openalex.org/W2810622842","https://openalex.org/W2889642425","https://openalex.org/W2891102912","https://openalex.org/W2892141784","https://openalex.org/W2901147398","https://openalex.org/W2903464090","https://openalex.org/W2945858020","https://openalex.org/W2947375106","https://openalex.org/W2966945592","https://openalex.org/W2993819003","https://openalex.org/W3004656347","https://openalex.org/W3005675738","https://openalex.org/W3022722253","https://openalex.org/W3044963843","https://openalex.org/W3101738542","https://openalex.org/W4232236203"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2728521155","https://openalex.org/W2556504211","https://openalex.org/W2810775292","https://openalex.org/W3150660900","https://openalex.org/W2625580943","https://openalex.org/W2094374960","https://openalex.org/W1507290680","https://openalex.org/W2968553720","https://openalex.org/W2317860422"],"abstract_inverted_index":{"This":[0,68],"paper":[1],"presents":[2],"the":[3,31,37,49,73,81,91,99],"design,":[4],"modeling":[5,55],"and":[6,34,53,61,75,79,85,94],"control":[7],"of":[8,26,36,44,56,77,83,88,101],"an":[9,21],"Over-actuated":[10],"Tilt-Octocopter":[11],"vehicle":[12,38,102],"(OTO)":[13],"which":[14],"can":[15,71],"fly":[16],"in":[17,20],"any":[18],"direction":[19],"inclined":[22],"attitude.":[23],"The":[24],"structure":[25,70],"octopus":[27],"is":[28,58,66],"designed,":[29],"considering":[30],"flight":[32],"efficiency":[33],"maneuverability":[35],"with":[39],"a":[40,62],"general":[41],"optimization":[42],"method":[43],"rotor":[45],"configuration":[46],"to":[47],"meet":[48],"mission":[50],"requirements.":[51],"Kinematic":[52],"dynamic":[54],"OTO":[57,78],"carried":[59],"out,":[60],"model-based":[63],"trajectory":[64],"controller":[65],"designed.":[67],"new":[69],"decouple":[72],"position":[74],"attitude":[76],"improve":[80],"ability":[82],"tracking":[84],"fault":[86],"tolerance":[87],"OTO.":[89],"Finally,":[90],"numerical":[92],"simulation":[93],"prototype":[95],"experimental":[96],"results":[97],"verify":[98],"advantages":[100],"design.":[103]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}