{"id":"https://openalex.org/W4282021662","doi":"https://doi.org/10.1109/lra.2022.3176959","title":"Power-Based Safety Layer for Aerial Vehicles in Physical Interaction Using Lyapunov Exponents","display_name":"Power-Based Safety Layer for Aerial Vehicles in Physical Interaction Using Lyapunov Exponents","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4282021662","doi":"https://doi.org/10.1109/lra.2022.3176959"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3176959","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3176959","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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/548959","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024864749","display_name":"Eugenio Cuniato","orcid":"https://orcid.org/0000-0001-6406-3308"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Eugenio Cuniato","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-6406-3308","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025600740","display_name":"Nicholas Lawrance","orcid":"https://orcid.org/0000-0003-2167-7427"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Nicholas Lawrance","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-2167-7427","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"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/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Tognon","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-1700-9637","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2760-7983","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5024864749"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":2.4267,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.88556308,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"7","issue":"3","first_page":"6774","last_page":"6781"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9983999729156494,"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":0.9983999729156494,"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/T12158","display_name":"Guidance and Control Systems","score":0.9944999814033508,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/control-theory","display_name":"Control theory (sociology)","score":0.7055344581604004},{"id":"https://openalex.org/keywords/lyapunov-exponent","display_name":"Lyapunov exponent","score":0.647419273853302},{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.6084854602813721},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5606003403663635},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5134804844856262},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.44325491786003113},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.4343462586402893},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.4102287292480469},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3202652931213379},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22196456789970398},{"id":"https://openalex.org/keywords/chaotic","display_name":"Chaotic","score":0.2194647192955017},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.17848342657089233},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1530572474002838},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13794824481010437},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10856854915618896},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.07636949419975281}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7055344581604004},{"id":"https://openalex.org/C191544260","wikidata":"https://www.wikidata.org/wiki/Q1238630","display_name":"Lyapunov exponent","level":3,"score":0.647419273853302},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.6084854602813721},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5606003403663635},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5134804844856262},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.44325491786003113},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.4343462586402893},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.4102287292480469},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3202652931213379},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22196456789970398},{"id":"https://openalex.org/C2777052490","wikidata":"https://www.wikidata.org/wiki/Q5072826","display_name":"Chaotic","level":2,"score":0.2194647192955017},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.17848342657089233},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1530572474002838},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13794824481010437},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10856854915618896},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.07636949419975281},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2022.3176959","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3176959","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:research-collection.ethz.ch:20.500.11850/548959","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/548959","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 7 (3)","raw_type":"info:eu-repo/semantics/acceptedVersion"},{"id":"pmh:oai:arXiv.org:2205.12562","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2205.12562","pdf_url":"https://arxiv.org/pdf/2205.12562","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.3929/ethz-b-000548959","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000548959","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/548959","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/548959","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 7 (3)","raw_type":"info:eu-repo/semantics/acceptedVersion"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.41999998688697815}],"awards":[{"id":"https://openalex.org/G6108634539","display_name":null,"funder_award_id":"953454","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7842005466","display_name":null,"funder_award_id":"Horizon 2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320326765","display_name":"National Centre of Competence in Research Robotics","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W88144964","https://openalex.org/W1541925238","https://openalex.org/W2056734315","https://openalex.org/W2296039882","https://openalex.org/W2779458783","https://openalex.org/W2783840519","https://openalex.org/W2792083172","https://openalex.org/W2904009101","https://openalex.org/W2913393696","https://openalex.org/W2954055669","https://openalex.org/W2966945592","https://openalex.org/W2968945909","https://openalex.org/W3038950394","https://openalex.org/W3089875479","https://openalex.org/W3101738542","https://openalex.org/W3112830500","https://openalex.org/W3114517548","https://openalex.org/W3156264578","https://openalex.org/W3174123873","https://openalex.org/W3207588894","https://openalex.org/W3207615494","https://openalex.org/W3207925858","https://openalex.org/W4285040080","https://openalex.org/W4292872153"],"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/W4293226006","https://openalex.org/W2578626244","https://openalex.org/W1979419366"],"abstract_inverted_index":{"As":[0],"the":[1,65,77,80,86,95],"performance":[2],"of":[3,50,79,85,94],"autonomous":[4],"systems":[5,29],"increases,":[6],"safety":[7,25,42],"concerns":[8],"arise,":[9],"especially":[10],"when":[11,64],"operating":[12],"in":[13,121,152],"non-structured":[14],"environments.":[15],"To":[16],"deal":[17],"with":[18,123],"these":[19],"concerns,":[20],"this":[21,104],"work":[22],"presents":[23],"a":[24,92,134],"layer":[26,43],"for":[27],"mechanical":[28],"that":[30],"detects":[31],"and":[32,47,60,107,155],"responds":[33],"to":[34,70,128],"unstable":[35],"dynamics":[36],"caused":[37],"by":[38],"external":[39],"disturbances.":[40],"The":[41,116,138],"is":[44,74,118,141],"implemented":[45],"independently":[46],"on":[48,76,133,144],"top":[49],"already":[51],"present":[52],"nominal":[53],"controllers,":[54],"like":[55],"pose":[56],"or":[57,98],"wrench":[58],"tracking,":[59],"limits":[61],"power":[62,130],"flow":[63],"system\u2019s":[66,87],"response":[67],"would":[68],"lead":[69],"instability.":[71],"This":[72],"approach":[73],"based":[75],"computation":[78],"Largest":[81],"Lyapunov":[82],"Exponent":[83],"(LLE)":[84],"error":[88],"dynamics,":[89],"which":[90],"represent":[91],"measure":[93],"dynamics\u2019":[96],"divergence":[97],"convergence":[99],"rate.":[100],"By":[101],"actively":[102],"computing":[103],"metric,":[105],"divergent":[106],"possibly":[108],"dangerous":[109],"system":[110],"behaviors":[111],"can":[112],"be":[113],"promptly":[114],"detected.":[115],"LLE":[117],"then":[119],"used":[120],"combination":[122],"Control":[124],"Barrier":[125],"Functions":[126],"(CBFs)":[127],"impose":[129],"limit":[131],"constraints":[132],"jerk":[135],"controlled":[136],"system.":[137],"proposed":[139],"architecture":[140],"experimentally":[142],"validated":[143],"an":[145],"Omnidirectional":[146],"Micro":[147],"Aerial":[148],"Vehicle":[149],"(OMAV)":[150],"both":[151],"free":[153],"flight":[154],"interaction":[156],"tasks.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5}],"updated_date":"2026-05-09T13:55:54.758798","created_date":"2022-06-13T00:00:00"}