{"id":"https://openalex.org/W4405935610","doi":"https://doi.org/10.1109/tase.2024.3520489","title":"Generalized Modeling of Overactuated Aerial Manipulators: Theory and Application","display_name":"Generalized Modeling of Overactuated Aerial Manipulators: Theory and Application","publication_year":2024,"publication_date":"2024-12-31","ids":{"openalex":"https://openalex.org/W4405935610","doi":"https://doi.org/10.1109/tase.2024.3520489"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3520489","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2024.3520489","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tase.2024.3520489","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072924450","display_name":"Lovro Markovi\u0107","orcid":"https://orcid.org/0000-0003-4242-0831"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":true,"raw_author_name":"Lovro Markovic","raw_affiliation_strings":["Faculty of Electrical and Computer Engineering, University of Zagreb, Zagreb, Croatia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical and Computer Engineering, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057431960","display_name":"Marko Car","orcid":"https://orcid.org/0000-0001-5932-7698"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Marko Car","raw_affiliation_strings":["Faculty of Electrical and Computer Engineering, University of Zagreb, Zagreb, Croatia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical and Computer Engineering, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085173304","display_name":"Matko Orsag","orcid":"https://orcid.org/0000-0002-9483-9282"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Matko Orsag","raw_affiliation_strings":["Faculty of Electrical and Computer Engineering, University of Zagreb, Zagreb, Croatia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical and Computer Engineering, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071197011","display_name":"Stjepan Bogdan","orcid":"https://orcid.org/0000-0003-2636-3216"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Stjepan Bogdan","raw_affiliation_strings":["Faculty of Electrical and Computer Engineering, University of Zagreb, Zagreb, Croatia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical and Computer Engineering, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072924450"],"corresponding_institution_ids":["https://openalex.org/I181343428"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13582255,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"10232","last_page":"10247"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","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"}},"topics":[{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9923999905586243,"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/control-theory","display_name":"Control theory (sociology)","score":0.6038944125175476},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4827936887741089},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42510172724723816},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.42360007762908936},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37507230043411255},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3403695821762085},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24890735745429993},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16258329153060913}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6038944125175476},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4827936887741089},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42510172724723816},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.42360007762908936},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37507230043411255},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3403695821762085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24890735745429993},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16258329153060913},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3520489","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2024.3520489","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tase.2024.3520489","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2024.3520489","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1578007713","https://openalex.org/W1964573745","https://openalex.org/W2066944544","https://openalex.org/W2219720796","https://openalex.org/W2465948386","https://openalex.org/W2593091274","https://openalex.org/W2601316242","https://openalex.org/W2762764329","https://openalex.org/W2769498435","https://openalex.org/W2891005336","https://openalex.org/W2904009101","https://openalex.org/W2905560833","https://openalex.org/W2909983946","https://openalex.org/W2922320344","https://openalex.org/W2944305481","https://openalex.org/W2964057747","https://openalex.org/W2968385036","https://openalex.org/W2968556892","https://openalex.org/W3003744633","https://openalex.org/W3004360046","https://openalex.org/W3042640251","https://openalex.org/W3048039920","https://openalex.org/W3059965140","https://openalex.org/W3112830500","https://openalex.org/W3135210947","https://openalex.org/W3174123873","https://openalex.org/W3196666636","https://openalex.org/W3202358609","https://openalex.org/W3206740165","https://openalex.org/W4243008427","https://openalex.org/W4283731026","https://openalex.org/W4285102483","https://openalex.org/W4292242239","https://openalex.org/W4383503692","https://openalex.org/W4385413680","https://openalex.org/W6838878131","https://openalex.org/W6853487394"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"This":[0,152,213,251],"paper":[1,179],"proposes":[2],"a":[3,35,48,68,78,120,141,149,183,210,236,247,260,281,290,301,331],"unified":[4],"dynamic":[5],"model":[6],"for":[7,52,195,209,304,316],"aerial":[8,81,99,146,189,197,311,341],"robots":[9],"which":[10,203],"encompasses":[11],"all":[12,40],"known":[13],"actuation":[14,45],"principles":[15],"including":[16],"tilting":[17,79,222,257],"propellers":[18,223],"and":[19,57,74,92,132,135,157,224,269,279,308,319,337,343,348],"centroid":[20,244],"variation":[21,245],"methods":[22],"such":[23,53,119,220],"as":[24,162,221],"moving":[25,241],"masses":[26,242],"or":[27],"robotic":[28,225,249],"manipulators.":[29,226],"Of":[30],"course,":[31],"one":[32],"can":[33,329],"envision":[34],"wide":[36],"variety":[37],"of":[38,44,71,96,118,159,185,188,229,246,310,334,339],"vehicles,":[39,342],"with":[41,77,103,217,239,256],"different":[42,186],"combinations":[43],"principles.":[46],"Therefore,":[47],"generalized":[49,196,262,266,298],"modeling":[50,63,193,267,299],"methodology":[51],"vehicles":[54,190,198,216],"is":[55,65,127,199,233,254,300],"developed":[56],"presented":[58,200],"in":[59,87,169,276,280,322,350],"this":[60,326],"paper.":[61],"The":[62,227,265],"approach":[64,214],"verified":[66],"through":[67],"comparative":[69],"analysis":[70],"MATLAB":[72],"simulations":[73],"laboratory":[75],"experiments":[76,102],"propeller":[80],"manipulator":[82,147],"vehicle,":[83,121],"named":[84],"Toucan.":[85],"Finally,":[86],"order":[88],"to":[89,129,171,177,201,289],"fully":[90],"explore":[91],"exploit":[93],"the":[94,97,109,116,122,145,155,163,173,230,270,286,296,305,314,323,335],"capabilities":[95],"designed":[98],"manipulator,":[100],"contact-based":[101,160],"force":[104,138,174,288],"tracking":[105,139],"are":[106,206,273],"performed":[107],"using":[108],"proposed":[110,231,297],"adaptive":[111,123],"impedance":[112,124],"controller.":[113],"To":[114],"demonstrate":[115],"advantages":[117],"control":[125],"method":[126,194,232],"used":[128],"generate":[130],"position":[131],"orientation":[133],"commands":[134],"achieve":[136],"end-effector":[137],"on":[140,235],"flat":[142,291],"surface":[143],"while":[144],"maintains":[148],"neutral":[150],"attitude.":[151],"greatly":[153],"increases":[154],"stability":[156],"safety":[158],"operations,":[161],"vehicle":[164,204],"does":[165],"not":[166],"require":[167],"changes":[168],"attitude":[170],"meet":[172],"requirements.":[175],"Note":[176],"Practitioners\u2014This":[178],"was":[180],"motivated":[181],"by":[182],"surge":[184],"configurations":[187,205],"emerging.":[191],"A":[192],"determine":[202],"best":[207],"suited":[208],"specific":[211,351],"application.":[212],"considers":[215],"additional":[218],"actuators":[219],"effectiveness":[228,349],"validated":[234],"custom-designed":[237],"quadrotor":[238],"four":[240],"emulating":[243],"generic":[248],"manipulator.":[250],"original":[252],"design":[253,309],"augmented":[255],"propellers,":[258],"yielding":[259],"truly":[261],"experimental":[263,271],"platform.":[264],"algorithm":[268],"platform":[272],"tested":[274],"both":[275],"free":[277],"flight":[278],"scenario":[282],"that":[283],"demonstrates":[284],"applying":[285],"desired":[287],"surface.":[292],"Overall,":[293],"we":[294],"showcase":[295],"useful":[302],"tool":[303],"rapid":[306],"prototyping":[307],"manipulators,":[312],"paving":[313],"way":[315],"more":[317],"advanced":[318],"capable":[320],"systems":[321],"future.":[324],"With":[325],"approach,":[327],"practitioners":[328],"gain":[330],"better":[332],"understanding":[333],"potential":[336],"limitations":[338],"their":[340,346],"ultimately":[344],"improve":[345],"performance":[347],"applications.":[352]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}