{"id":"https://openalex.org/W7127363266","doi":"https://doi.org/10.1109/tase.2026.3660357","title":"Collision-Free Trajectory Generation and Robust Nonlinear Distributed Model Predictive Control for Tethered Multi-Rotor Uncrewed Aerial Vehicles","display_name":"Collision-Free Trajectory Generation and Robust Nonlinear Distributed Model Predictive Control for Tethered Multi-Rotor Uncrewed Aerial Vehicles","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7127363266","doi":"https://doi.org/10.1109/tase.2026.3660357"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3660357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3660357","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":null,"display_name":"Ya Liu","orcid":"https://orcid.org/0000-0002-3057-6903"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ya Liu","raw_affiliation_strings":["School of Astronautics and Shaanxi Province Innovation Team of Intelligent Robotic Technology, Northwestern Polytechnical University, Xi’an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0002-3057-6903","affiliations":[{"raw_affiliation_string":"School of Astronautics and Shaanxi Province Innovation Team of Intelligent Robotic Technology, Northwestern Polytechnical University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042496222","display_name":"Yueer Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yueer Wu","raw_affiliation_strings":["School of Astronautics and Shaanxi Province Innovation Team of Intelligent Robotic Technology, Northwestern Polytechnical University, Xi’an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0009-0005-1046-353X","affiliations":[{"raw_affiliation_string":"School of Astronautics and Shaanxi Province Innovation Team of Intelligent Robotic Technology, Northwestern Polytechnical University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124963531","display_name":"Fan Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Zhang","raw_affiliation_strings":["School of Astronautics and Shaanxi Province Innovation Team of Intelligent Robotic Technology, Northwestern Polytechnical University, Xi’an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0003-2802-586X","affiliations":[{"raw_affiliation_string":"School of Astronautics and Shaanxi Province Innovation Team of Intelligent Robotic Technology, Northwestern Polytechnical University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124884882","display_name":"Panfeng Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Panfeng Huang","raw_affiliation_strings":["School of Astronautics and Shaanxi Province Innovation Team of Intelligent Robotic Technology, Northwestern Polytechnical University, Xi’an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0002-5132-9602","affiliations":[{"raw_affiliation_string":"School of Astronautics and Shaanxi Province Innovation Team of Intelligent Robotic Technology, Northwestern Polytechnical University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012241503","display_name":"Yingbo Lu","orcid":"https://orcid.org/0000-0002-4616-7565"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingbo Lu","raw_affiliation_strings":["School of Astronautics and Shaanxi Province Innovation Team of Intelligent Robotic Technology, Northwestern Polytechnical University, Xi’an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Astronautics and Shaanxi Province Innovation Team of Intelligent Robotic Technology, Northwestern Polytechnical University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5124904040","display_name":"Haitao Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Chang","raw_affiliation_strings":["School of Astronautics and Shaanxi Province Innovation Team of Intelligent Robotic Technology, Northwestern Polytechnical University, Xi’an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0003-4222-4400","affiliations":[{"raw_affiliation_string":"School of Astronautics and Shaanxi Province Innovation Team of Intelligent Robotic Technology, Northwestern Polytechnical University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":31.149,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.98740598,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"23","issue":null,"first_page":"4819","last_page":"4832"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.22939999401569366,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.22939999401569366,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.2240999937057495,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.16920000314712524,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6449000239372253},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6140999794006348},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.607200026512146},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5942000150680542},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.544700026512146},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4941999912261963},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4936999976634979},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4846000075340271},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4821999967098236},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4715000092983246}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6449000239372253},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6140999794006348},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.607200026512146},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5942000150680542},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.544700026512146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5012000203132629},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4941999912261963},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4936999976634979},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4846000075340271},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4821999967098236},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47350001335144043},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4715000092983246},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44920000433921814},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42579999566078186},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.41990000009536743},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.38370001316070557},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.3831999897956848},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3695000112056732},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.3646000027656555},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34929999709129333},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.3465000092983246},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.3296999931335449},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.3246000111103058},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.31450000405311584},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3093000054359436},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.2996000051498413},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.27239999175071716},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2630999982357025},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.2624000012874603},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.26100000739097595},{"id":"https://openalex.org/C112714845","wikidata":"https://www.wikidata.org/wiki/Q1482001","display_name":"Distributed parameter system","level":3,"score":0.25459998846054077},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25440001487731934},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.25200000405311584}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3660357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3660357","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":[{"score":0.5993161797523499,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1005949016","display_name":null,"funder_award_id":"D5000250027","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G5321175912","display_name":null,"funder_award_id":"62573356","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G578294907","display_name":null,"funder_award_id":"62303312","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8523373285","display_name":null,"funder_award_id":"2025M784415","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2012252652","https://openalex.org/W2041109651","https://openalex.org/W2295546444","https://openalex.org/W2587159109","https://openalex.org/W2589618410","https://openalex.org/W2794065691","https://openalex.org/W2842089854","https://openalex.org/W2887531520","https://openalex.org/W2898556730","https://openalex.org/W2904658231","https://openalex.org/W2969259892","https://openalex.org/W2975826207","https://openalex.org/W2981512554","https://openalex.org/W2981655159","https://openalex.org/W3007110967","https://openalex.org/W3009226446","https://openalex.org/W3138901592","https://openalex.org/W3152096498","https://openalex.org/W3164615535","https://openalex.org/W3167446249","https://openalex.org/W4250589301","https://openalex.org/W4285102391","https://openalex.org/W4295046686","https://openalex.org/W4367721699","https://openalex.org/W4382050749","https://openalex.org/W4389666889","https://openalex.org/W4413887016"],"related_works":[],"abstract_inverted_index":{"This":[0,71],"article":[1],"investigates":[2],"the":[3,114],"collaborative":[4],"transportation":[5,17],"planning":[6,78],"and":[7,29,41,103,117,123],"control":[8,92],"of":[9,32,49],"tethered":[10],"multi-rotor":[11],"unmanned":[12,20,42],"aerial":[13,21,30,43,121],"vehicles":[14,22,44],"within":[15],"intelligent":[16],"systems.":[18],"These":[19],"handle":[23],"heavy-load":[24],"delivery,":[25],"including":[26],"emergency":[27,124],"airdrop":[28],"assembly":[31],"structural":[33],"components.":[34],"To":[35],"ensure":[36],"algorithm":[37],"generality,":[38],"obstacles,":[39],"loads,":[40],"are":[45,62],"modeled":[46],"as":[47],"unions":[48],"convex":[50,59],"sets.":[51],"Collision":[52],"avoidance":[53],"constraints,":[54],"originally":[55],"nondifferentiable":[56],"due":[57],"to":[58,73,119],"set":[60],"distances,":[61],"exactly":[63],"reformulated":[64],"into":[65],"differentiable":[66],"forms":[67],"via":[68],"strong":[69],"duality.":[70],"leads":[72],"a":[74,86],"smooth,":[75],"optimization-based":[76],"trajectory":[77],"framework":[79],"with":[80],"obstacle":[81],"avoidance.":[82],"Considering":[83],"composite":[84],"disturbances,":[85],"robust":[87,101],"nonlinear":[88],"distributed":[89],"model":[90],"predictive":[91],"strategy":[93],"based":[94],"on":[95],"constraint":[96],"tightening":[97],"is":[98],"developed,":[99],"ensuring":[100],"feasibility":[102],"stability":[104],"without":[105],"terminal":[106],"constraints.":[107],"Numerical":[108],"simulations":[109],"in":[110,126],"cluttered":[111],"environments":[112],"validate":[113],"method\u2019s":[115],"effectiveness":[116],"applicability":[118],"next-generation":[120],"logistics":[122],"response":[125],"complex":[127],"terrains.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2026-02-04T00:00:00"}