{"id":"https://openalex.org/W4385413684","doi":"https://doi.org/10.1109/lra.2023.3300248","title":"Design, Modeling and Control of a Top-Loading Fully-Actuated Cargo Transportation Multirotor","display_name":"Design, Modeling and Control of a Top-Loading Fully-Actuated Cargo Transportation Multirotor","publication_year":2023,"publication_date":"2023-07-31","ids":{"openalex":"https://openalex.org/W4385413684","doi":"https://doi.org/10.1109/lra.2023.3300248"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3300248","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3300248","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/A5055673632","display_name":"Wooyong Park","orcid":"https://orcid.org/0009-0004-2894-2996"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wooyong Park","raw_affiliation_strings":["Department of Mechanical System Design Engineering, Seoul National University of Science and Technology (SEOULTECH), Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0004-2894-2996","affiliations":[{"raw_affiliation_string":"Department of Mechanical System Design Engineering, Seoul National University of Science and Technology (SEOULTECH), Seoul, Republic of Korea","institution_ids":["https://openalex.org/I118373667"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021998562","display_name":"Xiangyu Wu","orcid":"https://orcid.org/0000-0003-2055-5890"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyu Wu","raw_affiliation_strings":["Autel Robotics, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-2055-5890","affiliations":[{"raw_affiliation_string":"Autel Robotics, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101807818","display_name":"Dongjae Lee","orcid":"https://orcid.org/0000-0002-4068-7340"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongjae Lee","raw_affiliation_strings":["Department of Aerospace Engineering and Automation and Systems Research Institute (ASRI), Seoul National University (SNU), Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-4068-7340","affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering and Automation and Systems Research Institute (ASRI), Seoul National University (SNU), Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100434402","display_name":"Seung\u2010Jae Lee","orcid":"https://orcid.org/0000-0003-1674-3733"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seung Jae Lee","raw_affiliation_strings":["Department of Mechanical System Design Engineering, Seoul National University of Science and Technology (SEOULTECH), Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-1674-3733","affiliations":[{"raw_affiliation_string":"Department of Mechanical System Design Engineering, Seoul National University of Science and Technology (SEOULTECH), Seoul, Republic of Korea","institution_ids":["https://openalex.org/I118373667"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5488,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.82816178,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"8","issue":"9","first_page":"5807","last_page":"5814"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":0.9998999834060669,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9998999834060669,"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":0.9865999817848206,"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":0.9789000153541565,"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":0.9617875814437866},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7390766143798828},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6281049251556396},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5687947869300842},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.5330356955528259},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.5045462846755981},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48311352729797363},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47770002484321594},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.46415552496910095},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.42873668670654297},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.41923829913139343},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40438225865364075},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38446834683418274},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36761605739593506},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3348931670188904},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3070639371871948},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11084315180778503},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0988692045211792},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08172988891601562}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.9617875814437866},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7390766143798828},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6281049251556396},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5687947869300842},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.5330356955528259},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.5045462846755981},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48311352729797363},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47770002484321594},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.46415552496910095},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.42873668670654297},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.41923829913139343},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40438225865364075},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38446834683418274},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36761605739593506},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3348931670188904},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3070639371871948},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11084315180778503},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0988692045211792},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08172988891601562},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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.2023.3300248","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3300248","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":[],"awards":[{"id":"https://openalex.org/G3356157454","display_name":null,"funder_award_id":"2022R1A4A1032030","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G8702108389","display_name":null,"funder_award_id":"2022R1F1A1075373","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2089908769","https://openalex.org/W2095062552","https://openalex.org/W2295977886","https://openalex.org/W2418601359","https://openalex.org/W2422841075","https://openalex.org/W2468597192","https://openalex.org/W2625419594","https://openalex.org/W2752067137","https://openalex.org/W2757657624","https://openalex.org/W2783840519","https://openalex.org/W2806291609","https://openalex.org/W2892160635","https://openalex.org/W2895824696","https://openalex.org/W2954687219","https://openalex.org/W2963089940","https://openalex.org/W2967935566","https://openalex.org/W2969197212","https://openalex.org/W2971444598","https://openalex.org/W3004656347","https://openalex.org/W3016580280","https://openalex.org/W3033408977","https://openalex.org/W3034603778","https://openalex.org/W3101738542","https://openalex.org/W3203235301","https://openalex.org/W4285246141","https://openalex.org/W6686216753"],"related_works":["https://openalex.org/W2094374960","https://openalex.org/W2899893118","https://openalex.org/W2968553720","https://openalex.org/W2018431869","https://openalex.org/W2041791488","https://openalex.org/W2051579920","https://openalex.org/W2077865188","https://openalex.org/W2364148546","https://openalex.org/W1998511116","https://openalex.org/W4295925567"],"abstract_inverted_index":{"Existing":[0],"multirotor-based":[1],"cargo":[2,9,36,77,93],"transportation":[3],"does":[4],"not":[5],"maintain":[6],"a":[7,19,48,62,70,112],"constant":[8,63],"attitude":[10],"due":[11,101],"to":[12,37,97,102,141],"underactuation;":[13],"however,":[14],"fragile":[15],"payloads":[16],"may":[17],"require":[18],"consistent":[20],"posture.":[21],"The":[22],"conventional":[23],"method":[24,118],"is":[25,40,94,129],"also":[26],"cumbersome":[27],"when":[28,92],"loading":[29],"cargo,":[30],"and":[31,73,155],"the":[32,35,82,87,121,132,143,146,152],"size":[33],"of":[34,57,145],"be":[38],"loaded":[39],"limited.":[41],"To":[42,106],"overcome":[43],"these":[44],"issues,":[45],"we":[46,110],"propose":[47],"new":[49,113],"fully-actuated":[50],"multirotor":[51],"unmanned":[52],"aerial":[53],"vehicle":[54],"platform":[55,68],"capable":[56],"translational":[58],"motion":[59,100],"while":[60],"maintaining":[61],"attitude.":[64],"Our":[65],"newly":[66],"developed":[67],"has":[69],"cubic":[71],"exterior":[72],"can":[74],"freely":[75],"place":[76],"at":[78],"any":[79],"point":[80],"on":[81],"flat":[83],"top":[84],"surface.":[85],"However,":[86],"center-of-mass":[88,115],"(CoM)":[89],"position":[90,116,154],"changes":[91],"loaded,":[95],"leading":[96],"undesired":[98],"attitudinal":[99],"unwanted":[103],"torque":[104],"generation.":[105],"address":[107],"this":[108],"problem,":[109],"introduce":[111],"model-free":[114],"estimation":[117,148],"named":[119],"as":[120],"MOCE":[122],"(Model-free":[123],"Online":[124],"Center-of-mass":[125],"Estimation)":[126],"algorithm,":[127],"which":[128],"inspired":[130],"by":[131],"extremum-seeking":[133],"control":[134],"(ESC)":[135],"technique.":[136],"Experimental":[137],"results":[138],"are":[139],"presented":[140],"validate":[142],"performance":[144],"proposed":[147],"method,":[149],"effectively":[150],"estimating":[151],"CoM":[153],"showing":[156],"satisfactory":[157],"constant-attitude":[158],"flight":[159],"performance.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
