{"id":"https://openalex.org/W4400975166","doi":"https://doi.org/10.1109/lra.2024.3433749","title":"A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles","display_name":"A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles","publication_year":2024,"publication_date":"2024-07-25","ids":{"openalex":"https://openalex.org/W4400975166","doi":"https://doi.org/10.1109/lra.2024.3433749"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3433749","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lra.2024.3433749","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"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2412.02874","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103836089","display_name":"Davi Henrique dos Santos","orcid":"https://orcid.org/0000-0002-4286-235X"},"institutions":[{"id":"https://openalex.org/I59606676","display_name":"Universidade Federal do Par\u00e1","ror":"https://ror.org/03q9sr818","country_code":"BR","type":"education","lineage":["https://openalex.org/I59606676"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Davi Santos","raw_affiliation_strings":["Department of Computer Systems, Universidade Federal da Para&#x00ED;ba, Jo&#x00E3;o Pessoa, Brazil"],"affiliations":[{"raw_affiliation_string":"Department of Computer Systems, Universidade Federal da Para&#x00ED;ba, Jo&#x00E3;o Pessoa, Brazil","institution_ids":["https://openalex.org/I59606676"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004992661","display_name":"Martin Saska","orcid":"https://orcid.org/0000-0001-7106-3816"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Martin Saska","raw_affiliation_strings":["Department of Cybernetics, Czech Technical University in Prague, Prague, Czech Republic"],"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064505240","display_name":"Tiago Nascimento","orcid":"https://orcid.org/0000-0002-9319-2114"},"institutions":[{"id":"https://openalex.org/I59606676","display_name":"Universidade Federal do Par\u00e1","ror":"https://ror.org/03q9sr818","country_code":"BR","type":"education","lineage":["https://openalex.org/I59606676"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Tiago Nascimento","raw_affiliation_strings":["Department of Computer Systems, Universidade Federal da Para&#x00ED;ba, Jo&#x00E3;o Pessoa, Brazil"],"affiliations":[{"raw_affiliation_string":"Department of Computer Systems, Universidade Federal da Para&#x00ED;ba, Jo&#x00E3;o Pessoa, Brazil","institution_ids":["https://openalex.org/I59606676"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103836089"],"corresponding_institution_ids":["https://openalex.org/I59606676"],"apc_list":null,"apc_paid":null,"fwci":0.6569,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.68476894,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"9","issue":"10","first_page":"8889","last_page":"8896"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.998199999332428,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.6235958337783813},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.6148808002471924},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4831185042858124},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4157811999320984},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.3830704987049103},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3422604203224182},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.3365986943244934},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2963252663612366},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27909451723098755},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2657952308654785},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09221267700195312}],"concepts":[{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.6235958337783813},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.6148808002471924},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4831185042858124},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4157811999320984},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3830704987049103},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3422604203224182},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.3365986943244934},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2963252663612366},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27909451723098755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2657952308654785},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09221267700195312}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3433749","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lra.2024.3433749","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:arXiv.org:2412.02874","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2412.02874","pdf_url":"https://arxiv.org/pdf/2412.02874","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2412.02874","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2412.02874","pdf_url":"https://arxiv.org/pdf/2412.02874","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"},"sustainable_development_goals":[{"score":0.6200000047683716,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G120275728","display_name":null,"funder_award_id":"Univer","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"},{"id":"https://openalex.org/G15867981","display_name":null,"funder_award_id":"304551/2023-6","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"},{"id":"https://openalex.org/G2678520069","display_name":null,"funder_award_id":"CZ.02.01","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G3601516360","display_name":null,"funder_award_id":"Brazil","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"},{"id":"https://openalex.org/G5079005330","display_name":null,"funder_award_id":"support","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"},{"id":"https://openalex.org/G6368936276","display_name":null,"funder_award_id":"23-07517S","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G6812020124","display_name":null,"funder_award_id":"3030/2021","funder_id":"https://openalex.org/F4320323351","funder_display_name":"Funda\u00e7\u00e3o de Apoio \u00e0 Pesquisa do Estado da Para\u00edba"},{"id":"https://openalex.org/G7094650206","display_name":null,"funder_award_id":"407334/2022-0","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"},{"id":"https://openalex.org/G7412942520","display_name":null,"funder_award_id":"SGS23/177/OHK3/3T/13","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G8797134339","display_name":null,"funder_award_id":"4/2022","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"}],"funders":[{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"},{"id":"https://openalex.org/F4320321992","display_name":"Minist\u00e9rio da Ci\u00eancia, Tecnologia e Inova\u00e7\u00e3o","ror":"https://ror.org/050zdnc69"},{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"},{"id":"https://openalex.org/F4320323351","display_name":"Funda\u00e7\u00e3o de Apoio \u00e0 Pesquisa do Estado da Para\u00edba","ror":"https://ror.org/021y4b202"},{"id":"https://openalex.org/F4320330029","display_name":"Universidade Federal da Para\u00edba","ror":null},{"id":"https://openalex.org/F4320338073","display_name":"Fondo Nacional de Desarrollo Cient\u00edfico y Tecnol\u00f3gico","ror":"https://ror.org/02ap3w078"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4400975166.pdf","grobid_xml":"https://content.openalex.org/works/W4400975166.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W106539155","https://openalex.org/W1578294898","https://openalex.org/W2229054229","https://openalex.org/W2564095182","https://openalex.org/W2579730571","https://openalex.org/W2617428557","https://openalex.org/W2764269968","https://openalex.org/W2970930573","https://openalex.org/W3004099965","https://openalex.org/W3077668761","https://openalex.org/W3113515023","https://openalex.org/W3160193765","https://openalex.org/W3177010373","https://openalex.org/W3197225143","https://openalex.org/W3201584109","https://openalex.org/W4200230349","https://openalex.org/W4221033586","https://openalex.org/W4312083106","https://openalex.org/W4323663824","https://openalex.org/W4384916966","https://openalex.org/W4386542234","https://openalex.org/W4396910019","https://openalex.org/W6688981407","https://openalex.org/W6738045506","https://openalex.org/W6782364735"],"related_works":["https://openalex.org/W4360903416","https://openalex.org/W229441251","https://openalex.org/W2173510829","https://openalex.org/W2044304292","https://openalex.org/W74278805","https://openalex.org/W2767352157","https://openalex.org/W2765172718","https://openalex.org/W2110008888","https://openalex.org/W4387266582","https://openalex.org/W2388003591"],"abstract_inverted_index":{"This":[0,61],"paper":[1],"addresses":[2],"the":[3,11,23,34,49,74,79,83,86,89,108,128,135,161,180,184,199],"problem":[4],"of":[5,13,22,33,40,51,78,112,179],"thrust":[6,24,55,102,129,153,185],"estimation":[7,186],"and":[8,104,126,160,174,187],"control":[9,21,39,75,105,154,188],"for":[10,37,157],"rotors":[12],"small-sized":[14],"multirotors":[15],"Uncrewed":[16],"Aerial":[17],"Vehicles":[18],"(UAVs).":[19],"Accurate":[20],"generated":[25],"by":[26,165],"each":[27,158],"rotor":[28,52],"during":[29],"flight":[30,69,195],"is":[31,46,63,88],"one":[32],"main":[35],"challenges":[36],"robust":[38],"quadrotors.":[41],"The":[42],"most":[43],"common":[44],"approach":[45],"to":[47,54,65,81,106,119,131,134,198],"approximate":[48],"mapping":[50],"speed":[53],"with":[56,138,168],"a":[57,98,124,139,146],"simple":[58,140],"quadratic":[59,200],"model.":[60,201],"model":[62],"known":[64,121],"fail":[66],"under":[67,192],"non-hovering":[68],"conditions,":[70],"introducing":[71],"errors":[72],"into":[73],"pipeline.":[76],"One":[77],"approaches":[80],"modeling":[82],"aerodynamics":[84],"around":[85],"propellers":[87],"Blade":[90],"Element":[91],"Momentum":[92],"Theory":[93],"(BEMT).":[94],"Here,":[95],"we":[96],"propose":[97],"novel":[99],"BEMT-based":[100],"closed-loop":[101],"estimator":[103],"eliminate":[107],"laborious":[109],"calibration":[110],"step":[111],"finding":[113],"several":[114],"aerodynamic":[115],"coefficients.":[116],"We":[117],"aim":[118],"reuse":[120],"values":[122,132],"as":[123],"baseline":[125],"fit":[127],"estimate":[130],"closest":[133],"real":[136],"ones":[137],"test":[141],"bench":[142],"experiment,":[143],"resulting":[144],"in":[145],"single":[147],"scaling":[148],"value.":[149],"A":[150,176],"feedforward":[151],"PID":[152],"was":[155],"implemented":[156],"rotor,":[159],"methods":[162],"were":[163],"validated":[164],"outdoor":[166],"experiments":[167],"two":[169],"multirotor":[170],"UAV":[171],"platforms:":[172],"250mm":[173],"500mm.":[175],"statistical":[177],"analysis":[178],"results":[181],"showed":[182],"that":[183],"provided":[189],"better":[190],"robustness":[191],"aerodynamically":[193],"varying":[194],"conditions":[196],"compared":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
