{"id":"https://openalex.org/W2098711104","doi":"https://doi.org/10.1109/robot.2009.5152561","title":"Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering","display_name":"Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2098711104","doi":"https://doi.org/10.1109/robot.2009.5152561","mag":"2098711104"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152561","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-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/A5021839334","display_name":"Haomiao Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Haomiao Huang","raw_affiliation_strings":["University of Stanford, Stanford, CA, USA","Stanford University, California 94305 USA"],"affiliations":[{"raw_affiliation_string":"University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University, California 94305 USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037791791","display_name":"Gabriel Hoffmann","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G.M. Hoffmann","raw_affiliation_strings":["University of Stanford, Stanford, CA, USA","Stanford University, California 94305 USA"],"affiliations":[{"raw_affiliation_string":"University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University, California 94305 USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024242059","display_name":"Steven L. Waslander","orcid":"https://orcid.org/0000-0003-4217-4415"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"S.L. Waslander","raw_affiliation_strings":["University of Waterloo, Waterloo, ONT, Canada","University of Waterloo, ON, Canada, N2L 3G1"],"affiliations":[{"raw_affiliation_string":"University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"University of Waterloo, ON, Canada, N2L 3G1","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C.J. Tomlin","raw_affiliation_strings":["University of California, Berkeley, CA, USA","University of California, Berkeley 94720, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5021839334"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":43.064,"has_fulltext":false,"cited_by_count":419,"citation_normalized_percentile":{"value":0.99856516,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3277","last_page":"3282"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9979000091552734,"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"}},{"id":"https://openalex.org/T12125","display_name":"Aerospace and Aviation Technology","score":0.9975000023841858,"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/testbed","display_name":"Testbed","score":0.9274383187294006},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.7672337293624878},{"id":"https://openalex.org/keywords/stall","display_name":"Stall (fluid mechanics)","score":0.5505648851394653},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5023393630981445},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49505773186683655},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.46134358644485474},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.45135533809661865},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.43587878346443176},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.43028995394706726},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4208661913871765},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3859352469444275},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3399842381477356},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13289904594421387}],"concepts":[{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.9274383187294006},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.7672337293624878},{"id":"https://openalex.org/C5804382","wikidata":"https://www.wikidata.org/wiki/Q752034","display_name":"Stall (fluid mechanics)","level":2,"score":0.5505648851394653},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5023393630981445},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49505773186683655},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.46134358644485474},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.45135533809661865},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.43587878346443176},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.43028995394706726},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4208661913871765},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3859352469444275},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3399842381477356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13289904594421387},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2009.5152561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152561","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.455.7429","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.455.7429","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://kimerius.com/app/download/5784131369/Aerodynamics+and+control+of+autonomous+quadrotor+helicopters+in+agressive+maneuvering.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W4459838","https://openalex.org/W41574983","https://openalex.org/W200692537","https://openalex.org/W1492763151","https://openalex.org/W1535515756","https://openalex.org/W1540986431","https://openalex.org/W1559856396","https://openalex.org/W1601577086","https://openalex.org/W1990525319","https://openalex.org/W1994587255","https://openalex.org/W2010002406","https://openalex.org/W2010483519","https://openalex.org/W2048171684","https://openalex.org/W2102872389","https://openalex.org/W2103608534","https://openalex.org/W2110676572","https://openalex.org/W2141666765","https://openalex.org/W2144766789","https://openalex.org/W2145729159","https://openalex.org/W2156909576","https://openalex.org/W2332600699","https://openalex.org/W2333318233","https://openalex.org/W2494309865","https://openalex.org/W4205553317","https://openalex.org/W4285719527","https://openalex.org/W6632132050"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4247925126","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4379143281","https://openalex.org/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W4386322305"],"abstract_inverted_index":{"Quadrotor":[0],"helicopters":[1],"have":[2],"become":[3],"increasingly":[4],"important":[5,27],"in":[6,33],"recent":[7],"years":[8],"as":[9],"platforms":[10],"for":[11,56,73],"both":[12],"research":[13],"and":[14,49,61,99],"commercial":[15],"unmanned":[16],"aerial":[17],"vehicle":[18],"applications.":[19],"This":[20],"paper":[21],"extends":[22],"previous":[23],"work":[24],"on":[25,44,66],"several":[26],"aerodynamic":[28,97],"effects":[29,43],"impacting":[30],"quadrotor":[31,45,76,82],"flight":[32],"regimes":[34],"beyond":[35],"nominal":[36],"hover":[37],"conditions.":[38],"The":[39,59],"implications":[40],"of":[41,70,84,95],"these":[42],"performance":[46,102],"are":[47,52,64],"investigated":[48],"control":[50,62,101,106],"techniques":[51],"presented":[53],"that":[54],"compensate":[55],"them":[57],"accordingly.":[58],"analysis":[60],"systems":[63],"validated":[65],"the":[67,81,85,93,96,104],"Stanford":[68],"Testbed":[69],"Autonomous":[71],"Rotorcraft":[72],"Multi-Agent":[74],"Control":[75],"helicopter":[77],"testbed":[78],"by":[79],"performing":[80],"equivalent":[83],"stall":[86],"turn":[87],"aerobatic":[88],"maneuver.":[89],"Flight":[90],"results":[91],"demonstrate":[92],"accuracy":[94],"models":[98],"improved":[100],"with":[103],"proposed":[105],"schemes.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":27},{"year":2020,"cited_by_count":23},{"year":2019,"cited_by_count":45},{"year":2018,"cited_by_count":35},{"year":2017,"cited_by_count":30},{"year":2016,"cited_by_count":38},{"year":2015,"cited_by_count":37},{"year":2014,"cited_by_count":36},{"year":2013,"cited_by_count":43},{"year":2012,"cited_by_count":38}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}