{"id":"https://openalex.org/W4409991098","doi":"https://doi.org/10.1109/taes.2025.3566347","title":"Online Dynamic Model Calibration for Reliable Control of Quadrotor Based on Factor Graph Optimization","display_name":"Online Dynamic Model Calibration for Reliable Control of Quadrotor Based on Factor Graph Optimization","publication_year":2025,"publication_date":"2025-05-01","ids":{"openalex":"https://openalex.org/W4409991098","doi":"https://doi.org/10.1109/taes.2025.3566347"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2025.3566347","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3566347","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","raw_type":"journal-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/A5063738080","display_name":"Peiwen Yang","orcid":"https://orcid.org/0000-0002-5676-4232"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Peiwen Yang","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong","Department of Aeronautical, and Aviation Engineering, Hong Kong Polytechnic University, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-5676-4232","affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Aeronautical, and Aviation Engineering, Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045346492","display_name":"Weisong Wen","orcid":"https://orcid.org/0000-0003-4158-0913"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Weisong Wen","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong","Department of Aeronautical, and Aviation Engineering, Hong Kong Polytechnic University, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-4158-0913","affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Aeronautical, and Aviation Engineering, Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089923027","display_name":"Shiyu Bai","orcid":"https://orcid.org/0000-0002-3390-1185"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shiyu Bai","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong","Department of Aeronautical, and Aviation Engineering, Hong Kong Polytechnic University, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-3390-1185","affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Aeronautical, and Aviation Engineering, Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":null,"display_name":"Jiahao Hu","orcid":"https://orcid.org/0000-0002-4943-7700"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jiahao Hu","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong","Department of Aeronautical, and Aviation Engineering, Hong Kong Polytechnic University, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-4943-7700","affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Aeronautical, and Aviation Engineering, Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08510504,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"61","issue":"5","first_page":"11254","last_page":"11266"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.7742000222206116,"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/T12810","display_name":"Real-time simulation and control systems","score":0.7742000222206116,"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/T14276","display_name":"Power Systems and Technologies","score":0.7038999795913696,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T14225","display_name":"Advanced Sensor and Control Systems","score":0.6980000138282776,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6025120615959167},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5857001543045044},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.5216617584228516},{"id":"https://openalex.org/keywords/factor","display_name":"Factor (programming language)","score":0.4981355667114258},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.41660797595977783},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3950963616371155},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35616278648376465},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21762526035308838},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19932731986045837},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15354406833648682},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10488677024841309}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6025120615959167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5857001543045044},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.5216617584228516},{"id":"https://openalex.org/C2781039887","wikidata":"https://www.wikidata.org/wiki/Q1391724","display_name":"Factor (programming language)","level":2,"score":0.4981355667114258},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.41660797595977783},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3950963616371155},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35616278648376465},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21762526035308838},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19932731986045837},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15354406833648682},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10488677024841309},{"id":"https://openalex.org/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/taes.2025.3566347","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3566347","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"},{"id":"pmh:oai:ira.lib.polyu.edu.hk:10397/117428","is_oa":false,"landing_page_url":"http://hdl.handle.net/10397/117428","pdf_url":null,"source":{"id":"https://openalex.org/S4306400205","display_name":"PolyU Institutional Research Archive (Hong Kong Polytechnic University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I14243506","host_organization_name":"Hong Kong Polytechnic University","host_organization_lineage":["https://openalex.org/I14243506"],"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":"Journal/Magazine Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1968315983","https://openalex.org/W2098711104","https://openalex.org/W2137052305","https://openalex.org/W2146840171","https://openalex.org/W2162991084","https://openalex.org/W2745859992","https://openalex.org/W2751213936","https://openalex.org/W2765305061","https://openalex.org/W2765732465","https://openalex.org/W2768478721","https://openalex.org/W2769498435","https://openalex.org/W2902362187","https://openalex.org/W2946139622","https://openalex.org/W2971979296","https://openalex.org/W2977982730","https://openalex.org/W2979105428","https://openalex.org/W2979743057","https://openalex.org/W3000007051","https://openalex.org/W3082594388","https://openalex.org/W3110900836","https://openalex.org/W3118409872","https://openalex.org/W3119076944","https://openalex.org/W3164521861","https://openalex.org/W3177010373","https://openalex.org/W3183043509","https://openalex.org/W3185165122","https://openalex.org/W3195603722","https://openalex.org/W3196620541","https://openalex.org/W3197225143","https://openalex.org/W3206008794","https://openalex.org/W3217056046","https://openalex.org/W4212977407","https://openalex.org/W4213414279","https://openalex.org/W4221033586","https://openalex.org/W4225585096","https://openalex.org/W4285117968","https://openalex.org/W4296552195","https://openalex.org/W4312278272","https://openalex.org/W4361760859","https://openalex.org/W4385413536","https://openalex.org/W4385732609","https://openalex.org/W4385818572","https://openalex.org/W4386285856","https://openalex.org/W4386736676","https://openalex.org/W4388201681","https://openalex.org/W4388819609","https://openalex.org/W4391768801","https://openalex.org/W4399849525"],"related_works":["https://openalex.org/W162456724","https://openalex.org/W2354832544","https://openalex.org/W4252544247","https://openalex.org/W2903198223","https://openalex.org/W2137813581","https://openalex.org/W4288388634","https://openalex.org/W181127821","https://openalex.org/W2133152131","https://openalex.org/W1557056212","https://openalex.org/W2757251458"],"abstract_inverted_index":{"Precise":[0],"dynamic":[1,23,32,43,59,111],"model":[2,44,60,112,166],"calibration":[3,45],"is":[4,61,100,117,148,160],"essential":[5],"in":[6,139,167],"achieving":[7],"reliable":[8],"control":[9],"of":[10,30,71,156],"unmanned":[11],"aerial":[12],"vehicles":[13],"(UAV).":[14],"However,":[15],"the":[16,31,49,58,69,85,90,98,104,110,128,134,145,154,157,164,168,184],"existing":[17],"methods":[18,137],"tend":[19],"to":[20,28,182],"use":[21],"simplified":[22],"models":[24],"and":[25,81,89,121,141,176],"cannot":[26],"adapt":[27],"variations":[29],"model.":[33],"To":[34],"fill":[35],"this":[36,38],"gap,":[37],"paper":[39],"explores":[40],"an":[41],"online":[42],"(ODMC)":[46],"method":[47,116,159],"for":[48],"quadrotor":[50],"based":[51,102],"on":[52,103],"factor":[53],"graph":[54],"optimization":[55],"(FGO).":[56],"First,":[57],"derived":[62],"with":[63,109],"more":[64],"error":[65],"terms,":[66],"such":[67],"as":[68],"center":[70],"gravity":[72,91],"(CoG),":[73],"aerodynamic":[74],"drag,":[75],"horizontal":[76],"velocity-induced":[77],"thrust":[78],"(HVT)":[79],"disturbance,":[80],"viscous":[82],"effect.":[83],"Moreover,":[84],"IMU-body":[86],"extrinsic":[87],"parameters":[88],"vector":[92],"are":[93],"also":[94],"identified":[95],"online.":[96],"Second,":[97],"pose":[99],"estimated":[101,165],"visual-inertial":[105],"odometry":[106],"(VIO)":[107],"together":[108],"parameters.":[113],"The":[114,124],"proposed":[115,158],"validated":[118,161],"using":[119],"open-source":[120,174],"self-collected":[122],"datasets.":[123],"evaluation":[125],"demonstrates":[126],"that":[127],"ODMC":[129],"performs":[130],"even":[131],"better":[132],"than":[133,150],"state-of-the-art":[135],"data-driven":[136],"(DDM)":[138],"force":[140],"torque":[142],"prediction":[143],"when":[144],"maximum":[146],"velocity":[147],"less":[149],"9":[151],"m/s.":[152],"Furthermore,":[153],"effectiveness":[155],"by":[162],"applying":[163],"differential-flatness-based":[169],"controller":[170],"(DFBC).":[171],"Finally,":[172],"we":[173],"code":[175],"datasets":[177],"at":[178],"<uri":[179],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[180],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/RoboticsPolyu/QUAD_DYN</uri>":[181],"benefit":[183],"research":[185],"community.":[186]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
