{"id":"https://openalex.org/W4413104780","doi":"https://doi.org/10.1109/lra.2025.3597854","title":"A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks","display_name":"A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks","publication_year":2025,"publication_date":"2025-08-11","ids":{"openalex":"https://openalex.org/W4413104780","doi":"https://doi.org/10.1109/lra.2025.3597854"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3597854","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3597854","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2025.3597854","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041688549","display_name":"Antonio Gonz\u00e1lez-Morgado","orcid":"https://orcid.org/0000-0002-1991-0843"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A. Gonzalez-Morgado","raw_affiliation_strings":["GRVC Robotics Lab, Universidad de Sevilla, Sevilla, Spain","Universidad de Sevilla = University of Seville (C/ S. Fernando, 4, C.P. 41004-Sevilla - Espagne)"],"raw_orcid":"https://orcid.org/0000-0002-1991-0843","affiliations":[{"raw_affiliation_string":"GRVC Robotics Lab, Universidad de Sevilla, Sevilla, Spain","institution_ids":["https://openalex.org/I79238269"]},{"raw_affiliation_string":"Universidad de Sevilla = University of Seville (C/ S. Fernando, 4, C.P. 41004-Sevilla - Espagne)","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119267915","display_name":"J. Soueidan","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J. Soueidan","raw_affiliation_strings":["LAAS-CNRS, Université de Toulouse, Toulouse, France"],"raw_orcid":"https://orcid.org/0009-0005-1946-9209","affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Université de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009151868","display_name":"Guillermo Heredia","orcid":"https://orcid.org/0000-0003-1571-173X"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"G. Heredia","raw_affiliation_strings":["GRVC Robotics Lab, Universidad de Sevilla, Sevilla, Spain","Universidad de Sevilla = University of Seville (C/ S. Fernando, 4, C.P. 41004-Sevilla - Espagne)"],"raw_orcid":"https://orcid.org/0000-0003-1571-173X","affiliations":[{"raw_affiliation_string":"GRVC Robotics Lab, Universidad de Sevilla, Sevilla, Spain","institution_ids":["https://openalex.org/I79238269"]},{"raw_affiliation_string":"Universidad de Sevilla = University of Seville (C/ S. Fernando, 4, C.P. 41004-Sevilla - Espagne)","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057947815","display_name":"An\u0131\u0301bal Ollero","orcid":"https://orcid.org/0000-0003-2155-2472"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A. Ollero","raw_affiliation_strings":["GRVC Robotics Lab, Universidad de Sevilla, Sevilla, Spain","Universidad de Sevilla = University of Seville (C/ S. Fernando, 4, C.P. 41004-Sevilla - Espagne)"],"raw_orcid":"https://orcid.org/0000-0003-2155-2472","affiliations":[{"raw_affiliation_string":"GRVC Robotics Lab, Universidad de Sevilla, Sevilla, Spain","institution_ids":["https://openalex.org/I79238269"]},{"raw_affiliation_string":"Universidad de Sevilla = University of Seville (C/ S. Fernando, 4, C.P. 41004-Sevilla - Espagne)","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070253135","display_name":"Philippe Fraisse","orcid":"https://orcid.org/0000-0003-0911-0743"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Fraisse","raw_affiliation_strings":["Laboratoire d'informatique, de robotique et de microelectronique de Montpellier (LIRMM), Montpellier, France"],"raw_orcid":"https://orcid.org/0000-0003-0911-0743","affiliations":[{"raw_affiliation_string":"Laboratoire d'informatique, de robotique et de microelectronique de Montpellier (LIRMM), Montpellier, France","institution_ids":["https://openalex.org/I4210101743"]}]},{"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/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Tognon","raw_affiliation_strings":["CNRS, Inria, IRISA - UMR 6074, Univ. Rennes, Rennes, France","RAINBOW - Sensor-based and interactive robotics (Campus de Beaulieu\r\n35042 Rennes cedex - France)"],"raw_orcid":"https://orcid.org/0000-0003-1700-9637","affiliations":[{"raw_affiliation_string":"CNRS, Inria, IRISA - UMR 6074, Univ. Rennes, Rennes, France","institution_ids":["https://openalex.org/I2802519937","https://openalex.org/I56067802","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"RAINBOW - Sensor-based and interactive robotics (Campus de Beaulieu\r\n35042 Rennes cedex - France)","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046230584","display_name":"Marco Cognetti","orcid":"https://orcid.org/0000-0003-4996-5914"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Cognetti","raw_affiliation_strings":["LAAS-CNRS, Université de Toulouse, Toulouse, France"],"raw_orcid":"https://orcid.org/0000-0003-4996-5914","affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Université de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8699,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.86889001,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"10","first_page":"9670","last_page":"9677"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973000288009644,"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":0.9973000288009644,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9909999966621399,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9865999817848206,"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/nonlinear-system","display_name":"Nonlinear system","score":0.628507137298584},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5756672024726868},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4994072914123535},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49788975715637207},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4426993131637573},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34393972158432007},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2931499183177948},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26662272214889526},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11441299319267273}],"concepts":[{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.628507137298584},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5756672024726868},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4994072914123535},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49788975715637207},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4426993131637573},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34393972158432007},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2931499183177948},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26662272214889526},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11441299319267273},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2025.3597854","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3597854","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-05208698v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05208698","pdf_url":"https://hal.science/hal-05208698/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2025, 10 (10), pp.9670 - 9677. ⟨10.1109/LRA.2025.3597854⟩","raw_type":"Journal articles"},{"id":"pmh:oai:zenodo.org:16921056","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2025.3597854","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE ROBOTICS AND AUTOMATION LETTERS, (2025-08-11)","raw_type":"info:eu-repo/semantics/other"}],"best_oa_location":{"id":"doi:10.1109/lra.2025.3597854","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3597854","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1495698476","display_name":null,"funder_award_id":"MCIN/AEI/ 10.13039/501100011033","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G1806778487","display_name":"Automated Inspection Robots for Surface, Aerial and Underwater Substructures","funder_award_id":"101189723","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G2262748287","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G2601397997","display_name":null,"funder_award_id":"10.13039/501100011033","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G2863773509","display_name":null,"funder_award_id":"MCIN/AEI/ 10.13039/501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G300979063","display_name":null,"funder_award_id":"10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3412273058","display_name":null,"funder_award_id":"AEI/ 10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3480869486","display_name":null,"funder_award_id":"13039","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3681454997","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G3771547239","display_name":null,"funder_award_id":"101070604","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4042783231","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G410571670","display_name":null,"funder_award_id":"10.13039/501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G451917667","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G5080475149","display_name":null,"funder_award_id":"10.13039","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G5667384963","display_name":"Aerial Robots for True Manipulation of Dynamic and Uncertain Environments","funder_award_id":"ANR-23-CE33-0013","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G5967599077","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G7149750178","display_name":null,"funder_award_id":"MCIN/AEI/ 10.13039/501100011033","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7266728691","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8909017353","display_name":null,"funder_award_id":"MCIN/AEI/ 10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320328356","display_name":"R\u00e9gion Occitanie Pyr\u00e9n\u00e9es-M\u00e9diterran\u00e9e","ror":null},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320335598","display_name":"Agencia Estatal de Investigaci\u00f3n","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1548528537","https://openalex.org/W1556974221","https://openalex.org/W1979780394","https://openalex.org/W2048903599","https://openalex.org/W2086493383","https://openalex.org/W2593091274","https://openalex.org/W2762878490","https://openalex.org/W2769498435","https://openalex.org/W2891005336","https://openalex.org/W3091934936","https://openalex.org/W3132593795","https://openalex.org/W3184348524","https://openalex.org/W3207305612","https://openalex.org/W4285335795","https://openalex.org/W4382536733","https://openalex.org/W4387717525","https://openalex.org/W4403031629","https://openalex.org/W4404520442"],"related_works":["https://openalex.org/W2978665606","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W189465620","https://openalex.org/W4366818884","https://openalex.org/W2248308732","https://openalex.org/W4392651289","https://openalex.org/W3042490037","https://openalex.org/W4380487215"],"abstract_inverted_index":{"Aerial":[0],"robots":[1],"are":[2],"transitioning":[3],"from":[4],"traditional":[5],"surveillance":[6],"and":[7,31,80,87,129,158],"monitoring":[8],"roles":[9],"to":[10,28,49,108,137,148],"more":[11],"advanced":[12],"tasks":[13],"involving":[14],"physical":[15,20,89,153],"interaction.":[16],"Despite":[17],"this":[18,118],"progress,":[19],"Human-Aerial":[21],"Robot":[22],"Interaction":[23],"remains":[24],"largely":[25],"underexplored":[26],"due":[27],"the":[29,71,75,77,81,91,110,144,150],"complexity":[30],"stability-related":[32],"issues":[33],"of":[34,74,114],"such":[35],"platforms.":[36],"This":[37],"paper":[38],"introduces":[39],"a":[40,55,64,96,126,130,139],"novel":[41],"control":[42,59,68],"framework":[43,119],"that":[44],"enables":[45],"an":[46,52],"aerial":[47,78,145],"platform":[48],"cooperatively":[50],"transport":[51,138],"object":[53],"with":[54,95],"human":[56,127,151],"operator.":[57],"The":[58,141],"approach":[60],"is":[61,93],"built":[62],"on":[63],"nonlinear":[65],"model":[66],"predictive":[67],"(NMPC),":[69],"integrating":[70],"dynamic":[72],"models":[73],"human,":[76],"robot,":[79],"transported":[82],"object.":[83],"To":[84],"ensure":[85],"safe":[86],"robust":[88],"interaction,":[90],"NMPC":[92],"combined":[94],"compliant":[97],"controller.":[98],"Additionally,":[99],"our":[100],"controller":[101],"prioritizes":[102],"forward":[103],"motion":[104],"over":[105],"lateral":[106],"movements":[107],"accommodate":[109],"human's":[111],"natural":[112],"direction":[113],"motion.":[115],"We":[116],"validate":[117],"through":[120],"indoor":[121],"flight":[122],"experiments,":[123],"demonstrating":[124],"how":[125],"operator":[128],"fully":[131],"actuated":[132],"hexarotor":[133],"can":[134],"effectively":[135],"collaborate":[136],"bar.":[140],"results":[142],"highlight":[143],"robot's":[146],"ability":[147],"assist":[149],"during":[152],"transportation":[154],"tasks,":[155],"enhancing":[156],"efficiency":[157],"comfort.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}