{"id":"https://openalex.org/W3203649668","doi":"https://doi.org/10.1109/lra.2022.3154008","title":"Fly Out the Window: Exploiting Discrete-Time Flatness for Fast Vision-Based Multirotor Flight","display_name":"Fly Out the Window: Exploiting Discrete-Time Flatness for Fast Vision-Based Multirotor Flight","publication_year":2022,"publication_date":"2022-02-24","ids":{"openalex":"https://openalex.org/W3203649668","doi":"https://doi.org/10.1109/lra.2022.3154008","mag":"3203649668"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3154008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3154008","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/A5019695635","display_name":"Melissa Greeff","orcid":"https://orcid.org/0000-0002-1708-3709"},"institutions":[{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]},{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Melissa Greeff","raw_affiliation_strings":["Dynamic Systems Lab and the Vector Institute for Artificial Intelligence, University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Dynamic Systems Lab and the Vector Institute for Artificial Intelligence, University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210127509","https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048199386","display_name":"Siqi Zhou","orcid":"https://orcid.org/0000-0001-7240-546X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"SiQi Zhou","raw_affiliation_strings":["Dynamic Systems Lab and the Vector Institute for Artificial Intelligence, University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Dynamic Systems Lab and the Vector Institute for Artificial Intelligence, University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210127509","https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052147335","display_name":"Angela P. Schoellig","orcid":"https://orcid.org/0000-0003-4012-4668"},"institutions":[{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]},{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Angela P. Schoellig","raw_affiliation_strings":["Dynamic Systems Lab and the Vector Institute for Artificial Intelligence, University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Dynamic Systems Lab and the Vector Institute for Artificial Intelligence, University of Toronto Institute for Aerospace Studies (UTIAS), Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210127509","https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5019695635"],"corresponding_institution_ids":["https://openalex.org/I185261750","https://openalex.org/I4210127509"],"apc_list":null,"apc_paid":null,"fwci":0.3023,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.51166648,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"7","issue":"2","first_page":"5023","last_page":"5030"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9988999962806702,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9988999962806702,"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":0.9987999796867371,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9984999895095825,"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/multirotor","display_name":"Multirotor","score":0.7649768590927124},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7102321982383728},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5836166143417358},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.4817821681499481},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.42223358154296875},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4172731041908264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3467155992984772},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.256891131401062}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.7649768590927124},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7102321982383728},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5836166143417358},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.4817821681499481},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.42223358154296875},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4172731041908264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3467155992984772},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.256891131401062},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3154008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3154008","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":[{"id":"https://metadata.un.org/sdg/7","score":0.4699999988079071,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320313286","display_name":"Defence Research and Development Canada","ror":null},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2065297540","https://openalex.org/W2162991084","https://openalex.org/W2204930965","https://openalex.org/W2578927519","https://openalex.org/W2766201701","https://openalex.org/W2788056275","https://openalex.org/W2891174905","https://openalex.org/W2909122662","https://openalex.org/W2953916822","https://openalex.org/W2967464230","https://openalex.org/W2969756004","https://openalex.org/W2972197214","https://openalex.org/W2976820132","https://openalex.org/W3002270926","https://openalex.org/W3012888745","https://openalex.org/W3029808435","https://openalex.org/W3040334549","https://openalex.org/W3046559739","https://openalex.org/W3097602886","https://openalex.org/W3099436200","https://openalex.org/W3101252417","https://openalex.org/W3112866837","https://openalex.org/W3132841585","https://openalex.org/W3135756520","https://openalex.org/W3139264378","https://openalex.org/W3140480223","https://openalex.org/W3153486053","https://openalex.org/W3205915463","https://openalex.org/W4206742276","https://openalex.org/W4225861987","https://openalex.org/W4226017215","https://openalex.org/W6765030795"],"related_works":["https://openalex.org/W2728521155","https://openalex.org/W2810775292","https://openalex.org/W3150660900","https://openalex.org/W2556504211","https://openalex.org/W2914097399","https://openalex.org/W2625580943","https://openalex.org/W3212684323","https://openalex.org/W4388145564","https://openalex.org/W2587394152","https://openalex.org/W2992661094"],"abstract_inverted_index":{"Recent":[0],"work":[1],"has":[2],"demonstrated":[3],"fast,":[4],"agile":[5],"flight":[6,23,159],"using":[7,122],"only":[8,123],"vision":[9,54],"as":[10],"a":[11,27,85,92,119,124],"position":[12,50,134],"sensor":[13],"and":[14,33,56,128,135,161,179],"no":[15],"GPS.":[16],"Current":[17],"feedback":[18],"controllers":[19,146,183],"for":[20,84],"fast":[21],"vision-based":[22,164],"typically":[24],"rely":[25,148],"on":[26,149,186],"full-state":[28,37,86,152,187],"estimate,":[29],"including":[30],"position,":[31],"velocity":[32],"acceleration.":[34],"An":[35],"accurate":[36],"estimate":[38,87],"is":[39,111],"often":[40],"challenging":[41],"to":[42,45,62,117,176,191],"obtain":[43,63],"due":[44],"noisy":[46],"IMU":[47],"measurements,":[48],"infrequent":[49],"updates":[51],"from":[52],"the":[53,69,82,96,104,108,130],"system,":[55],"an":[57,76,150],"imperfect":[58],"motion":[59],"model":[60],"used":[61],"high-rate":[64],"state":[65],"estimates":[66],"required":[67],"by":[68,88],"controller.":[70],"In":[71,166],"this":[72],"letter,":[73],"we":[74,101],"present":[75],"alternative":[77],"control":[78],"design":[79,118],"that":[80,103,142,147,184],"bypasses":[81],"need":[83],"exploiting":[89],"discrete-time":[90,112,170],"flatness,":[91],"structural":[93],"property":[94],"of":[95,107,126,133],"underlying":[97],"vehicle":[98],"dynamics.":[99],"First,":[100],"show":[102],"Euler":[105],"discretization":[106],"multirotor":[109,158],"dynamics":[110],"flat.":[113],"This":[114],"allows":[115],"us":[116],"predictive":[120],"controller":[121,172],"window":[125],"inputs":[127],"outputs,":[129],"latter":[131],"consisting":[132],"yaw":[136],"estimates.":[137],"We":[138,154],"highlight":[139],"in":[140],"simulation":[141],"our":[143,169],"approach":[144],"outperforms":[145,181],"incorrect":[151],"estimate.":[153],"perform":[155],"extensive":[156],"outdoor":[157],"experiments":[160],"demonstrate":[162],"reliable":[163],"navigation.":[165],"these":[167],"experiments,":[168],"flatness-based":[171],"achieves":[173],"speeds":[174],"up":[175,190],"10":[177],"m/s":[178],"significantly":[180],"similar":[182],"hinge":[185],"estimation,":[188],"achieving":[189],"80%":[192],"path":[193],"error":[194],"reduction.":[195]},"counts_by_year":[{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
