{"id":"https://openalex.org/W4412802433","doi":"https://doi.org/10.1109/tase.2025.3594579","title":"Modular Multirotors: From Quadrotors to Fully-Actuated Aerial Vehicles","display_name":"Modular Multirotors: From Quadrotors to Fully-Actuated Aerial Vehicles","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4412802433","doi":"https://doi.org/10.1109/tase.2025.3594579"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3594579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3594579","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":null,"license_id":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100907744","display_name":"Jiawei Xu","orcid":"https://orcid.org/0000-0002-3388-2252"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jiawei Xu","raw_affiliation_strings":["Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, Bethlehem, PA, USA","Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, PA, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, Bethlehem, PA, USA","institution_ids":["https://openalex.org/I186143895"]},{"raw_affiliation_string":"Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, PA, USA","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010355779","display_name":"Diego S. D\u2019Antonio","orcid":"https://orcid.org/0000-0003-1856-1749"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Diego S. D'Antonio","raw_affiliation_strings":["Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, Bethlehem, PA, USA","Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, PA, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, Bethlehem, PA, USA","institution_ids":["https://openalex.org/I186143895"]},{"raw_affiliation_string":"Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, PA, USA","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023803863","display_name":"David Salda\u00f1a","orcid":"https://orcid.org/0000-0003-2442-4257"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Salda\u00f1a","raw_affiliation_strings":["Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, Bethlehem, PA, USA","Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, PA, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, Bethlehem, PA, USA","institution_ids":["https://openalex.org/I186143895"]},{"raw_affiliation_string":"Autonomous and Intelligent Robotics Laboratory (AIRLab), Lehigh University, PA, USA","institution_ids":["https://openalex.org/I186143895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100907744"],"corresponding_institution_ids":["https://openalex.org/I186143895"],"apc_list":null,"apc_paid":null,"fwci":1.1777,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.80623356,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"22","issue":null,"first_page":"19328","last_page":"19339"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9648000001907349,"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":0.9447000026702881,"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/modular-design","display_name":"Modular design","score":0.7579702138900757},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5543891787528992},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5111337304115295},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4215911328792572},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4016731381416321},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3416256308555603},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3131278157234192},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27931928634643555}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7579702138900757},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5543891787528992},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5111337304115295},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4215911328792572},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4016731381416321},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3416256308555603},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3131278157234192},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27931928634643555},{"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/tase.2025.3594579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3594579","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":null,"license_id":null,"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":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2248066316","display_name":null,"funder_award_id":"544835","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1584143882","https://openalex.org/W2002216615","https://openalex.org/W2038307852","https://openalex.org/W2049410986","https://openalex.org/W2051155887","https://openalex.org/W2089090747","https://openalex.org/W2109656638","https://openalex.org/W2154174243","https://openalex.org/W2317622211","https://openalex.org/W2418601359","https://openalex.org/W2547074464","https://openalex.org/W2560414423","https://openalex.org/W2593091274","https://openalex.org/W2615395590","https://openalex.org/W2617536634","https://openalex.org/W2771944259","https://openalex.org/W2783007554","https://openalex.org/W2790708554","https://openalex.org/W2889713206","https://openalex.org/W2889847861","https://openalex.org/W2891970369","https://openalex.org/W2892035765","https://openalex.org/W3035449648","https://openalex.org/W3048039920","https://openalex.org/W3080675340","https://openalex.org/W3091778965","https://openalex.org/W3152229441","https://openalex.org/W3159013627","https://openalex.org/W3164663456","https://openalex.org/W3182486812","https://openalex.org/W3184348524","https://openalex.org/W3190054586","https://openalex.org/W3205950827","https://openalex.org/W4231359497","https://openalex.org/W4250589301","https://openalex.org/W4285059376","https://openalex.org/W4285203817","https://openalex.org/W4288064677","https://openalex.org/W4312858436","https://openalex.org/W4313143541","https://openalex.org/W4313151755","https://openalex.org/W4319996426","https://openalex.org/W4383172100","https://openalex.org/W4392908472","https://openalex.org/W4399800631","https://openalex.org/W4401329155","https://openalex.org/W4405022322"],"related_works":["https://openalex.org/W2378076731","https://openalex.org/W4286888643","https://openalex.org/W3210795196","https://openalex.org/W2249385795","https://openalex.org/W2088988140","https://openalex.org/W3171015545","https://openalex.org/W2103019253","https://openalex.org/W2951529875","https://openalex.org/W2391453316","https://openalex.org/W2097995569"],"abstract_inverted_index":{"Traditional":[0],"aerial":[1,66],"vehicles":[2,156],"are":[3,146],"constrained":[4],"to":[5,10,26,64,87],"perform":[6],"specific":[7],"tasks":[8,28],"due":[9],"their":[11],"adhoc":[12],"designs.":[13],"Based":[14],"on":[15],"modularity,":[16],"we":[17,104],"propose":[18],"a":[19,110],"versatile":[20,62],"robot,":[21],"H-ModQuad,":[22],"that":[23,58,112,154],"can":[24,73],"adapt":[25],"different":[27,158,161],"by":[29,46],"increasing":[30],"its":[31,75,80,114],"load":[32],"capacity":[33,77],"and":[34,61,78,89,101,134,144],"actuated":[35,81],"degrees":[36,82],"of":[37,42,55,83,96,109,132],"freedom.":[38],"It":[39],"is":[40],"composed":[41],"cuboid":[43],"modules":[44],"propelled":[45],"quadrotors":[47],"with":[48,148,157],"tilted":[49],"rotors.":[50],"We":[51,117,128],"present":[52,129],"two":[53],"families":[54],"module":[56],"designs":[57],"bring":[59],"scalable":[60],"actuation":[63,94,99,162],"the":[65,93,106,120,130,139],"systems.":[67],"By":[68,91],"configuring":[69],"multiple":[70],"modules,":[71],"H-ModQuad":[72,97,133,155],"increase":[74],"payload":[76],"change":[79],"freedom":[84],"from":[85],"4":[86],"5":[88],"6.":[90],"modeling":[92],"capability":[95],"using":[98,150],"ellipsoids":[100],"wrench":[102],"polytopes,":[103],"find":[105],"body":[107],"frame":[108],"vehicle":[111,121,140],"maximizes":[113],"thrusting":[115],"efficiency.":[116],"also":[118],"compare":[119],"capabilities":[122],"against":[123],"formally":[124],"defined":[125],"task":[126],"requirements.":[127],"dynamics":[131],"integrate":[135],"control":[136],"strategies":[137],"despite":[138],"design.":[141],"The":[142],"design":[143],"model":[145],"validated":[147],"experiments":[149],"actual":[151],"robots,":[152],"showing":[153],"configurations":[159],"provide":[160],"properties.":[163]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}