{"id":"https://openalex.org/W4406612159","doi":"https://doi.org/10.1109/smc54092.2024.10831896","title":"Robust Decentralised Control for Modular Aerial Parcel Delivery Using Persistently Excited Physics-Informed Neural Networks","display_name":"Robust Decentralised Control for Modular Aerial Parcel Delivery Using Persistently Excited Physics-Informed Neural Networks","publication_year":2024,"publication_date":"2024-10-06","ids":{"openalex":"https://openalex.org/W4406612159","doi":"https://doi.org/10.1109/smc54092.2024.10831896"},"language":"en","primary_location":{"id":"doi:10.1109/smc54092.2024.10831896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc54092.2024.10831896","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5015689693","display_name":"Archit Krishna Kamath","orcid":"https://orcid.org/0000-0001-7344-2086"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Archit Krishna Kamath","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, NTU Singapore,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, NTU Singapore,Singapore,639798","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015293969","display_name":"Saeid Nahavandi","orcid":"https://orcid.org/0000-0002-0360-5270"},"institutions":[{"id":"https://openalex.org/I57093077","display_name":"Swinburne University of Technology","ror":"https://ror.org/031rekg67","country_code":"AU","type":"education","lineage":["https://openalex.org/I57093077"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Saeid Nahavandi","raw_affiliation_strings":["Swinburne University of Technology,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swinburne University of Technology,Australia","institution_ids":["https://openalex.org/I57093077"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032529996","display_name":"Sreenatha G. Anavatti","orcid":"https://orcid.org/0000-0002-4754-8191"},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]},{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]},{"id":"https://openalex.org/I4394709116","display_name":"UNSW Canberra","ror":"https://ror.org/0125wpx05","country_code":null,"type":"education","lineage":["https://openalex.org/I31746571","https://openalex.org/I4394709116"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Sreenatha G. Anavatti","raw_affiliation_strings":["School of Engineering and Information Technology, University of New South Wales Canberra,Australia,ACT2610"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Information Technology, University of New South Wales Canberra,Australia,ACT2610","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I31746571","https://openalex.org/I4394709116"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026643234","display_name":"Mir Feroskhan","orcid":"https://orcid.org/0000-0002-2889-7222"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Mir Feroskhan","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, NTU Singapore,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, NTU Singapore,Singapore,639798","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4262","last_page":"4269"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12546","display_name":"Smart Parking Systems Research","score":0.9034000039100647,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T12546","display_name":"Smart Parking Systems Research","score":0.9034000039100647,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/modular-design","display_name":"Modular design","score":0.8519166111946106},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6111727952957153},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5250030755996704},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5030073523521423},{"id":"https://openalex.org/keywords/excited-state","display_name":"Excited state","score":0.49762609601020813},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4596654176712036},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36785465478897095},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.28441524505615234},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23517408967018127},{"id":"https://openalex.org/keywords/quantum-mechanics","display_name":"Quantum mechanics","score":0.08565476536750793}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8519166111946106},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6111727952957153},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5250030755996704},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5030073523521423},{"id":"https://openalex.org/C181500209","wikidata":"https://www.wikidata.org/wiki/Q215328","display_name":"Excited state","level":2,"score":0.49762609601020813},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4596654176712036},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36785465478897095},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.28441524505615234},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23517408967018127},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.08565476536750793},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc54092.2024.10831896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc54092.2024.10831896","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W130083205","https://openalex.org/W2064018879","https://openalex.org/W2069525910","https://openalex.org/W2073768640","https://openalex.org/W2089090747","https://openalex.org/W2768969578","https://openalex.org/W2899283552","https://openalex.org/W2963953081","https://openalex.org/W2986600625","https://openalex.org/W2993484248","https://openalex.org/W3025932170","https://openalex.org/W3134776497","https://openalex.org/W3185416958","https://openalex.org/W3206767190","https://openalex.org/W4200401236","https://openalex.org/W4226089598","https://openalex.org/W4250739957","https://openalex.org/W4285123829","https://openalex.org/W4296915802","https://openalex.org/W4376456516","https://openalex.org/W4386882926","https://openalex.org/W4390871512","https://openalex.org/W4395678331","https://openalex.org/W6801377368"],"related_works":["https://openalex.org/W2068137917","https://openalex.org/W4394877064","https://openalex.org/W2786707560","https://openalex.org/W2378076731","https://openalex.org/W147048876","https://openalex.org/W4286888643","https://openalex.org/W2129337499","https://openalex.org/W2374165352","https://openalex.org/W2222975001","https://openalex.org/W2097995569"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,86,104,122],"robust":[4,138],"decentralised":[5,87,124],"control":[6,30,59,88,99,125,139],"approach":[7,126],"for":[8,69,144],"modular":[9,105,141],"aerial":[10,106,142],"parcel":[11,145],"delivery":[12,146],"using":[13],"persistently":[14],"excited":[15],"physics-informed":[16],"neural":[17],"networks":[18],"(PE-PINNs).":[19],"The":[20,50,132],"proposed":[21,133],"method":[22],"enables":[23,135],"each":[24],"propeller":[25],"module":[26],"to":[27,54,79,112],"independently":[28],"generate":[29],"efforts":[31],"based":[32],"solely":[33],"on":[34,103],"its":[35,42],"local":[36],"state":[37],"information":[38],"and":[39,67,85,97,117,129,137],"that":[40,90],"of":[41,140],"1-hop":[43],"neighbors,":[44],"without":[45],"requiring":[46],"global":[47],"system":[48,65],"knowledge.":[49],"PE-PINN":[51],"is":[52],"trained":[53],"approximate":[55],"the":[56,63,76,92,95,109],"optimal":[57,98],"centralized":[58],"policy":[60],"by":[61,127],"incorporating":[62],"nominal":[64],"dynamics":[66],"accounting":[68],"modeling":[70],"uncertainties.":[71],"Key":[72],"innovations":[73],"include":[74],"estimating":[75],"Lipschitz":[77],"constant":[78],"ensure":[80],"persistent":[81],"excitation":[82],"during":[83],"training,":[84],"formulation":[89],"minimizes":[91],"difference":[93],"between":[94],"learned":[96],"efforts.":[100],"Experimental":[101],"results":[102],"testbed":[107],"demonstrate":[108],"PE-PINN's":[110],"ability":[111],"achieve":[113],"high-accuracy":[114],"fixed-point":[115],"hover":[116],"trajectory":[118],"tracking":[119],"performance,":[120],"outperforming":[121],"prior":[123],"8.57%":[128],"24.17%":[130],"respectively.":[131],"framework":[134],"scalable":[136],"systems":[143],"applications.":[147]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
