{"id":"https://openalex.org/W2742321532","doi":"https://doi.org/10.1109/romoco.2017.8003893","title":"A planar path-following model predictive controller for fixed-wing Unmanned Aerial Vehicles","display_name":"A planar path-following model predictive controller for fixed-wing Unmanned Aerial Vehicles","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2742321532","doi":"https://doi.org/10.1109/romoco.2017.8003893","mag":"2742321532"},"language":"en","primary_location":{"id":"doi:10.1109/romoco.2017.8003893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2017.8003893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 11th International Workshop on Robot Motion and Control (RoMoCo)","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/A5003960846","display_name":"Andrea Alessandretti","orcid":"https://orcid.org/0000-0002-1861-8525"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Andrea Alessandretti","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering, University of Porto (FEUP), Portugal"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, University of Porto (FEUP), Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069883451","display_name":"A. Pedro Aguiar","orcid":"https://orcid.org/0000-0001-7105-0505"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"A. Pedro Aguiar","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering, University of Porto (FEUP), Portugal"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, University of Porto (FEUP), Portugal","institution_ids":["https://openalex.org/I182534213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5003960846"],"corresponding_institution_ids":["https://openalex.org/I182534213"],"apc_list":null,"apc_paid":null,"fwci":0.8046,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.73825053,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"59","last_page":"64"},"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/T10791","display_name":"Advanced Control Systems Optimization","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/fixed-wing","display_name":"Fixed wing","score":0.8346890211105347},{"id":"https://openalex.org/keywords/autopilot","display_name":"Autopilot","score":0.8278611898422241},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7982954978942871},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6428247094154358},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6215985417366028},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6172526478767395},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5985124707221985},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5773545503616333},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5166364312171936},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4408933222293854},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.415812224149704},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3241831660270691},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25434815883636475},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.17081895470619202},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16930001974105835},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12468898296356201},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10819664597511292},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09774145483970642},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.06843268871307373}],"concepts":[{"id":"https://openalex.org/C3018522811","wikidata":"https://www.wikidata.org/wiki/Q2875704","display_name":"Fixed wing","level":3,"score":0.8346890211105347},{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.8278611898422241},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7982954978942871},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6428247094154358},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6215985417366028},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6172526478767395},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5985124707221985},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5773545503616333},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5166364312171936},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4408933222293854},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.415812224149704},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3241831660270691},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25434815883636475},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.17081895470619202},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16930001974105835},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12468898296356201},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10819664597511292},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09774145483970642},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.06843268871307373},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/romoco.2017.8003893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2017.8003893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 11th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1490283553","https://openalex.org/W1601380202","https://openalex.org/W1775521486","https://openalex.org/W1978956894","https://openalex.org/W1982582014","https://openalex.org/W1984797278","https://openalex.org/W1989222064","https://openalex.org/W1993171261","https://openalex.org/W2002675616","https://openalex.org/W2030054607","https://openalex.org/W2041109651","https://openalex.org/W2064842627","https://openalex.org/W2099441085","https://openalex.org/W2099740514","https://openalex.org/W2112368081","https://openalex.org/W2117321644","https://openalex.org/W2122561468","https://openalex.org/W2150531296","https://openalex.org/W2159956441","https://openalex.org/W2161685125","https://openalex.org/W2294971861","https://openalex.org/W2482678102","https://openalex.org/W2512244101","https://openalex.org/W2619258759","https://openalex.org/W6677979866"],"related_works":["https://openalex.org/W2528333064","https://openalex.org/W2357122534","https://openalex.org/W2159456118","https://openalex.org/W2810600210","https://openalex.org/W4389544757","https://openalex.org/W2898251840","https://openalex.org/W4382050713","https://openalex.org/W4210812503","https://openalex.org/W3120608804","https://openalex.org/W1529590058"],"abstract_inverted_index":{"This":[0,98],"paper":[1],"addresses":[2],"the":[3,25,31,44,79,101,104,111,115,130,133],"design":[4,102],"of":[5,72,78,103,110,118,132],"a":[6,9,17,34,68,73,85,108],"path-following":[7],"using":[8,67],"sampled-data":[10],"Model":[11],"Predictive":[12],"Control":[13],"(MPC)":[14],"approach":[15],"for":[16,107],"fixed-wing":[18],"Unmanned":[19],"Aerial":[20],"Vehicle":[21],"(UAV).":[22],"In":[23],"path-following,":[24],"motion":[26],"task":[27],"consists":[28],"in":[29],"steering":[30],"vehicle":[32],"towards":[33],"given":[35],"desired":[36,62],"geometric":[37],"path":[38,45],"and":[39,64,121],"make":[40],"it":[41],"follow":[42],"along":[43],"with":[46,114],"an":[47,56],"assigned":[48],"speed":[49],"profile.":[50],"To":[51],"this":[52],"end,":[53],"we":[54],"propose":[55],"MPC":[57,80,105],"controller":[58,87,106],"that":[59,90],"will":[60],"generate":[61],"linear":[63],"angular":[65],"velocities":[66],"simplified":[69],"kinematic":[70],"model":[71],"planar":[74],"UAV.":[75],"The":[76],"output":[77],"is":[81,91],"then":[82],"fed":[83],"to":[84,93,122],"low-level":[86],"(the":[88],"autopilot)":[89],"tasked":[92],"track":[94],"such":[95],"reference":[96],"signals.":[97],"combination":[99],"allows":[100],"subset":[109],"state":[112],"variables,":[113],"consequent":[116],"reduction":[117],"computational":[119],"burden,":[120],"explicitly":[123],"handle":[124],"input":[125],"constraints.":[126],"Simulation":[127],"results":[128],"show":[129],"performance":[131],"proposed":[134],"scheme.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-08T23:21:52.890332","created_date":"2025-10-10T00:00:00"}