{"id":"https://openalex.org/W2516440423","doi":"https://doi.org/10.1109/tcst.2016.2601288","title":"Stable Path-Following Control for a Quadrotor Helicopter Considering Energy Consumption","display_name":"Stable Path-Following Control for a Quadrotor Helicopter Considering Energy Consumption","publication_year":2016,"publication_date":"2016-08-31","ids":{"openalex":"https://openalex.org/W2516440423","doi":"https://doi.org/10.1109/tcst.2016.2601288","mag":"2516440423"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2016.2601288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2016.2601288","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11336/63544","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027685965","display_name":"Daniel Gandolfo","orcid":"https://orcid.org/0000-0002-4938-2105"},"institutions":[{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]}],"countries":["AR"],"is_corresponding":true,"raw_author_name":"Daniel C. Gandolfo","raw_affiliation_strings":["Consejo Nacional de Investigaciones Cientif\u00edcas y T\u00e9cnicas, Instituto de Autom\u00e1tica, Universidad Nacional de San Juan, San Juan, Argentina"],"affiliations":[{"raw_affiliation_string":"Consejo Nacional de Investigaciones Cientif\u00edcas y T\u00e9cnicas, Instituto de Autom\u00e1tica, Universidad Nacional de San Juan, San Juan, Argentina","institution_ids":["https://openalex.org/I39553462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102710189","display_name":"Lucio R. Salinas","orcid":"https://orcid.org/0000-0002-7330-4131"},"institutions":[{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Lucio R. Salinas","raw_affiliation_strings":["Consejo Nacional de Investigaciones Cientif\u00edcas y T\u00e9cnicas, Instituto de Autom\u00e1tica, Universidad Nacional de San Juan, San Juan, Argentina"],"affiliations":[{"raw_affiliation_string":"Consejo Nacional de Investigaciones Cientif\u00edcas y T\u00e9cnicas, Instituto de Autom\u00e1tica, Universidad Nacional de San Juan, San Juan, Argentina","institution_ids":["https://openalex.org/I39553462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016206479","display_name":"Alexandre S. Brand\u00e3o","orcid":"https://orcid.org/0000-0001-5990-2218"},"institutions":[{"id":"https://openalex.org/I146165071","display_name":"Universidade Federal de Vi\u00e7osa","ror":"https://ror.org/0409dgb37","country_code":"BR","type":"education","lineage":["https://openalex.org/I146165071"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Alexandre Brandao","raw_affiliation_strings":["Departamento de Engenharia El\u00e9trica, Universidade Federal de Vi\u00e7osa, Vi\u00e7osa, Brazil"],"affiliations":[{"raw_affiliation_string":"Departamento de Engenharia El\u00e9trica, Universidade Federal de Vi\u00e7osa, Vi\u00e7osa, Brazil","institution_ids":["https://openalex.org/I146165071"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015682817","display_name":"Juan Marcos Toibero","orcid":"https://orcid.org/0000-0001-9347-566X"},"institutions":[{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Juan M. Toibero","raw_affiliation_strings":["Consejo Nacional de Investigaciones Cientif\u00edcas y T\u00e9cnicas, Instituto de Autom\u00e1tica, Universidad Nacional de San Juan, San Juan, Argentina"],"affiliations":[{"raw_affiliation_string":"Consejo Nacional de Investigaciones Cientif\u00edcas y T\u00e9cnicas, Instituto de Autom\u00e1tica, Universidad Nacional de San Juan, San Juan, Argentina","institution_ids":["https://openalex.org/I39553462"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027685965"],"corresponding_institution_ids":["https://openalex.org/I39553462"],"apc_list":null,"apc_paid":null,"fwci":6.4768,"has_fulltext":false,"cited_by_count":83,"citation_normalized_percentile":{"value":0.96758314,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"25","issue":"4","first_page":"1423","last_page":"1430"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9998999834060669,"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":0.9994999766349792,"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/T12158","display_name":"Guidance and Control Systems","score":0.9993000030517578,"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/energy-consumption","display_name":"Energy consumption","score":0.6620967984199524},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5642290711402893},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5350984334945679},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.5324576497077942},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5221712589263916},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5051801800727844},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.501638650894165},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4794965386390686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4533580541610718},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4324083626270294},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4133104085922241},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3391127586364746},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.32379674911499023},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31259867548942566},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10774227976799011},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1017487645149231},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08856838941574097},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07121717929840088}],"concepts":[{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.6620967984199524},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5642290711402893},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5350984334945679},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.5324576497077942},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5221712589263916},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5051801800727844},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.501638650894165},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4794965386390686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4533580541610718},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4324083626270294},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4133104085922241},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3391127586364746},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.32379674911499023},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31259867548942566},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10774227976799011},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1017487645149231},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08856838941574097},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07121717929840088},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tcst.2016.2601288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2016.2601288","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/163a4be3-4b87-4afa-bf6f-632778776af6","is_oa":false,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/163a4be3-4b87-4afa-bf6f-632778776af6","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Gandolfo, D C, Salinas, L R, Brand\u00e3o, A & Toibero, J M 2017, 'Stable Path-Following Control for a Quadrotor Helicopter Considering Energy Consumption', IEEE Transactions on Control Systems Technology, vol. 25, no. 4, pp. 1423-1430. https://doi.org/10.1109/TCST.2016.2601288","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:research-information.bris.ac.uk:publications/163a4be3-4b87-4afa-bf6f-632778776af6","is_oa":false,"landing_page_url":"https://hdl.handle.net/1983/163a4be3-4b87-4afa-bf6f-632778776af6","pdf_url":null,"source":{"id":"https://openalex.org/S7407055359","display_name":"Explore Bristol Research","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Gandolfo, D C, Salinas, L R, Brand\u00e3o, A & Toibero, J M 2017, 'Stable Path-Following Control for a Quadrotor Helicopter Considering Energy Consumption', IEEE Transactions on Control Systems Technology, vol. 25, no. 4, pp. 1423-1430. https://doi.org/10.1109/TCST.2016.2601288","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:ri.conicet.gov.ar:11336/63544","is_oa":true,"landing_page_url":"http://hdl.handle.net/11336/63544","pdf_url":null,"source":{"id":"https://openalex.org/S4306402455","display_name":"CONICET Digital (CONICET)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210148385","host_organization_name":"Biomedicine Research Institute of Buenos Aires - CONICET - Partner Institute of the Max Planck Society","host_organization_lineage":["https://openalex.org/I4210148385"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:ri.conicet.gov.ar:11336/63544","is_oa":true,"landing_page_url":"http://hdl.handle.net/11336/63544","pdf_url":null,"source":{"id":"https://openalex.org/S4306402455","display_name":"CONICET Digital (CONICET)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210148385","host_organization_name":"Biomedicine Research Institute of Buenos Aires - CONICET - Partner Institute of the Max Planck Society","host_organization_lineage":["https://openalex.org/I4210148385"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G2941433966","display_name":null,"funder_award_id":"FB0008","funder_id":"https://openalex.org/F4320321594","funder_display_name":"Consejo Nacional de Investigaciones Cient\u00edficas y T\u00e9cnicas"},{"id":"https://openalex.org/G700213943","display_name":null,"funder_award_id":"FB0008","funder_id":"https://openalex.org/F4320334812","funder_display_name":"Comisi\u00f3n Nacional de Investigaci\u00f3n Cient\u00edfica y Tecnol\u00f3gica"}],"funders":[{"id":"https://openalex.org/F4320310976","display_name":"Universidad T\u00e9cnica Federico Santa Mar\u00eda","ror":"https://ror.org/05510vn56"},{"id":"https://openalex.org/F4320321594","display_name":"Consejo Nacional de Investigaciones Cient\u00edficas y T\u00e9cnicas","ror":"https://ror.org/03cqe8w59"},{"id":"https://openalex.org/F4320323956","display_name":"Universidad Nacional de San Juan","ror":"https://ror.org/02rsnav77"},{"id":"https://openalex.org/F4320334812","display_name":"Comisi\u00f3n Nacional de Investigaci\u00f3n Cient\u00edfica y Tecnol\u00f3gica","ror":"https://ror.org/02ap3w078"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1539696758","https://openalex.org/W1898575466","https://openalex.org/W1963867084","https://openalex.org/W1966514245","https://openalex.org/W1984088642","https://openalex.org/W1986360546","https://openalex.org/W2009655925","https://openalex.org/W2012083815","https://openalex.org/W2016907482","https://openalex.org/W2021183670","https://openalex.org/W2042139905","https://openalex.org/W2043151145","https://openalex.org/W2051155887","https://openalex.org/W2065569846","https://openalex.org/W2072231728","https://openalex.org/W2079853162","https://openalex.org/W2081326455","https://openalex.org/W2085358689","https://openalex.org/W2115091574","https://openalex.org/W2130813949","https://openalex.org/W2134910768","https://openalex.org/W2144063905","https://openalex.org/W2145737377","https://openalex.org/W2152616154","https://openalex.org/W2154855781","https://openalex.org/W2259165155","https://openalex.org/W2278731717","https://openalex.org/W2325433595","https://openalex.org/W2554451183","https://openalex.org/W6692297858","https://openalex.org/W7064513134"],"related_works":["https://openalex.org/W4389397071","https://openalex.org/W2023045191","https://openalex.org/W2952839243","https://openalex.org/W4389397311","https://openalex.org/W2945555514","https://openalex.org/W1582343225","https://openalex.org/W2210722882","https://openalex.org/W2534107666","https://openalex.org/W2117933783","https://openalex.org/W2560479139"],"abstract_inverted_index":{"A":[0,90],"substantial":[1],"interest":[2],"in":[3,8,59,79,96],"aerial":[4],"robots":[5],"has":[6],"grown":[7],"recent":[9],"years.":[10],"However,":[11],"the":[12,20,60,71,98,101,110,114,120,126,137,141,145],"energetic":[13],"cost":[14],"of":[15,19,43,50,100,113,119,140,147,155],"flying":[16,27],"is":[17,67,94,103,123],"one":[18,34],"key":[21],"challenges":[22],"nowadays.":[23],"Rotorcrafts":[24],"are":[25,150],"heavier-than-air":[26],"machines":[28],"that":[29,107,160],"use":[30],"lift":[31],"generated":[32],"by":[33],"or":[35],"several":[36],"rotors":[37],"(vertically":[38],"oriented":[39],"propellers),":[40],"and":[41,76,144],"because":[42],"this,":[44],"they":[45],"spend":[46],"a":[47,80,87,104,133,153,156],"large":[48],"proportion":[49],"their":[51,56],"available":[52],"energy":[53,77,149],"to":[54,69],"maintain":[55],"own":[57],"weight":[58],"air.":[61],"In":[62],"this":[63,65],"brief,":[64],"concept":[66],"used":[68],"evaluate":[70],"relationship":[72],"between":[73],"navigation":[74],"speed":[75,99],"consumption":[78],"miniature":[81],"quadrotor":[82,135],"helicopter,":[83],"which":[84,97],"travels":[85],"over":[86],"desired":[88,115],"path.":[89,116],"novel":[91],"path-following":[92],"controller":[93],"proposed":[95,142],"rotorcraft":[102],"dynamic":[105],"profile":[106],"varies":[108],"with":[109],"geometric":[111],"requirements":[112],"The":[117,129],"stability":[118],"control":[121],"law":[122],"proved":[124],"using":[125,132,152],"Lyapunov":[127],"theory.":[128],"experimental":[130],"results":[131],"real":[134],"show":[136],"good":[138],"performance":[139],"controller,":[143],"percentages":[146],"involved":[148],"quantified":[151],"model":[154],"lithium":[157],"polymer":[158],"battery":[159],"was":[161],"previously":[162],"identified.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}