{"id":"https://openalex.org/W4396542250","doi":"https://doi.org/10.1109/lra.2024.3396109","title":"Motion Planning and Control of a Morphing Quadrotor in Restricted Scenarios","display_name":"Motion Planning and Control of a Morphing Quadrotor in Restricted Scenarios","publication_year":2024,"publication_date":"2024-05-01","ids":{"openalex":"https://openalex.org/W4396542250","doi":"https://doi.org/10.1109/lra.2024.3396109"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3396109","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3396109","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/A5032873397","display_name":"Guiyang Cui","orcid":"https://orcid.org/0009-0000-8258-2275"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]},{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guiyang Cui","raw_affiliation_strings":["Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education, East China University of Science and Technology, Shanghai, China","Research Institute of Intelligent Complex Systems, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0000-8258-2275","affiliations":[{"raw_affiliation_string":"Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]},{"raw_affiliation_string":"Research Institute of Intelligent Complex Systems, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080327203","display_name":"Ruihao Xia","orcid":"https://orcid.org/0009-0008-6749-5104"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]},{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruihao Xia","raw_affiliation_strings":["Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education, East China University of Science and Technology, Shanghai, China","Research Institute of Intelligent Complex Systems, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0008-6749-5104","affiliations":[{"raw_affiliation_string":"Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]},{"raw_affiliation_string":"Research Institute of Intelligent Complex Systems, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032005722","display_name":"Xin Jin","orcid":"https://orcid.org/0000-0002-9515-5712"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]},{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Jin","raw_affiliation_strings":["Research Institute of Intelligent Complex Systems, Fudan University, Shanghai, China","Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education East China University of Science and Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-9515-5712","affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Complex Systems, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]},{"raw_affiliation_string":"Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028570509","display_name":"Yang Tang","orcid":"https://orcid.org/0000-0002-2750-8029"},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]},{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Tang","raw_affiliation_strings":["Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education, East China University of Science and Technology, Shanghai, China","Research Institute of Intelligent Complex Systems, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-2750-8029","affiliations":[{"raw_affiliation_string":"Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education, East China University of Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I143593769"]},{"raw_affiliation_string":"Research Institute of Intelligent Complex Systems, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032873397"],"corresponding_institution_ids":["https://openalex.org/I143593769","https://openalex.org/I24943067"],"apc_list":null,"apc_paid":null,"fwci":3.095,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.92613525,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":"6","first_page":"5759","last_page":"5766"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/morphing","display_name":"Morphing","score":0.9687833189964294},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5643095374107361},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5453829169273376},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5281804800033569},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49052661657333374},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23982557654380798},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08263543248176575}],"concepts":[{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.9687833189964294},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5643095374107361},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5453829169273376},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5281804800033569},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49052661657333374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23982557654380798},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08263543248176575}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3396109","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3396109","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/13","display_name":"Climate action","score":0.550000011920929}],"awards":[{"id":"https://openalex.org/G158014015","display_name":null,"funder_award_id":"B17017","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G3545694276","display_name":null,"funder_award_id":"62293500","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7545332879","display_name":null,"funder_award_id":"62233005","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/F4320327912","display_name":"Higher Education Discipline Innovation Project","ror":null},{"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":22,"referenced_works":["https://openalex.org/W2035601288","https://openalex.org/W2126491786","https://openalex.org/W2587415290","https://openalex.org/W2745859992","https://openalex.org/W2769498435","https://openalex.org/W2806599356","https://openalex.org/W2905560833","https://openalex.org/W2965215408","https://openalex.org/W3093767638","https://openalex.org/W3119013423","https://openalex.org/W3130743025","https://openalex.org/W3135798748","https://openalex.org/W3145785845","https://openalex.org/W3175143658","https://openalex.org/W3185303610","https://openalex.org/W3195573131","https://openalex.org/W3205839708","https://openalex.org/W4210434594","https://openalex.org/W4294691728","https://openalex.org/W4297022368","https://openalex.org/W4313030977","https://openalex.org/W4321609184"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W1679315481","https://openalex.org/W3151495635","https://openalex.org/W4385170164","https://openalex.org/W4236870338","https://openalex.org/W2016917053","https://openalex.org/W1580681114","https://openalex.org/W51472912","https://openalex.org/W4362722828"],"abstract_inverted_index":{"Morphing":[0],"quadrotors":[1,59],"with":[2],"four":[3],"integrated":[4],"actuators":[5],"can":[6,85,122],"adapt":[7],"to":[8,40,60],"different":[9],"restricted":[10],"scenarios":[11],"by":[12],"changing":[13],"their":[14],"geometric":[15],"structure.":[16],"However,":[17],"previous":[18],"works":[19],"mainly":[20],"focus":[21],"on":[22],"the":[23,35,78,113,126,134,137,147],"improvements":[24],"in":[25],"structures":[26],"and":[27,29,42,54,63,92,106,116,140,143],"controllers,":[28],"existing":[30],"planning":[31,53],"algorithms":[32],"don't":[33],"consider":[34],"morphological":[36,79],"modifcations,":[37],"which":[38],"leads":[39],"safety":[41,88],"dynamic":[43,109],"feasibility":[44],"issues.":[45],"In":[46],"this":[47],"paper,":[48],"we":[49],"propose":[50],"a":[51,69,97],"unifed":[52],"control":[55],"framework":[56,66],"for":[57,103],"morphing":[58],"deform":[61],"autonomously":[62],"effciently.":[64],"The":[65,83,120],"consists":[67],"of":[68,81,118,136],"milliseconds-level":[70],"spatial-temporal":[71],"trajectory":[72],"optimizer":[73,84],"that":[74,101],"takes":[75],"into":[76],"account":[77],"modifcations":[80],"quadrotors.":[82],"generate":[86],"fullbody":[87],"trajectories":[89],"including":[90],"position":[91],"attitude.":[93],"Additionally,":[94],"it":[95],"incorporates":[96],"nonlinear":[98],"attitude":[99],"controller":[100,121,139],"accounts":[102],"aerodynamic":[104],"drag":[105],"dynamically":[107],"adjusts":[108],"parameters":[110],"such":[111],"as":[112],"inertia":[114],"tensor":[115],"Center":[117],"Gravity.":[119],"also":[123],"online":[124],"compute":[125],"thrust":[127],"coeffcient":[128],"during":[129],"morphing.":[130],"Benchmark":[131],"experiments":[132,145],"validate":[133],"robustness":[135],"proposed":[138],"extensive":[141],"simulations":[142],"real":[144],"demonstrate":[146],"framework's":[148],"effectiveness.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
