{"id":"https://openalex.org/W4411270349","doi":"https://doi.org/10.1109/tits.2025.3570005","title":"Practical Distributed Control for Cooperative VTOL UAVs Within a 3-D Roundabout","display_name":"Practical Distributed Control for Cooperative VTOL UAVs Within a 3-D Roundabout","publication_year":2025,"publication_date":"2025-06-13","ids":{"openalex":"https://openalex.org/W4411270349","doi":"https://doi.org/10.1109/tits.2025.3570005"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3570005","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3570005","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation 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/A5042021400","display_name":"Rao Fu","orcid":"https://orcid.org/0000-0002-6000-4906"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rao Fu","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6000-4906","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051122325","display_name":"Pengda Mao","orcid":"https://orcid.org/0009-0003-3442-0492"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengda Mao","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0003-3442-0492","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028920444","display_name":"Yangqi Lei","orcid":"https://orcid.org/0009-0008-6001-0899"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangqi Lei","raw_affiliation_strings":["School of Mathematical Sciences, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0008-6001-0899","affiliations":[{"raw_affiliation_string":"School of Mathematical Sciences, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029675265","display_name":"Kai-Yuan Cai","orcid":"https://orcid.org/0000-0002-4546-2407"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai-Yuan Cai","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4546-2407","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058029021","display_name":"Quan Quan","orcid":"https://orcid.org/0000-0001-8216-8998"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quan Quan","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8216-8998","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.814,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.96416222,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"26","issue":"7","first_page":"9341","last_page":"9357"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9940000176429749,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9940000176429749,"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":0.9854000210762024,"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/T13954","display_name":"Aerospace Engineering and Applications","score":0.9398000240325928,"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/roundabout","display_name":"Roundabout","score":0.9605724811553955},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5013012886047363},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4700894355773926},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3532137870788574},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3226781487464905},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.20366978645324707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1833648979663849}],"concepts":[{"id":"https://openalex.org/C109157449","wikidata":"https://www.wikidata.org/wiki/Q7371221","display_name":"Roundabout","level":2,"score":0.9605724811553955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5013012886047363},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4700894355773926},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3532137870788574},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3226781487464905},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.20366978645324707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1833648979663849}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3570005","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3570005","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4932907637","display_name":null,"funder_award_id":"62450127","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1978568240","https://openalex.org/W1981826826","https://openalex.org/W2106140000","https://openalex.org/W2124497430","https://openalex.org/W2130543495","https://openalex.org/W2140929789","https://openalex.org/W2229747717","https://openalex.org/W2232142151","https://openalex.org/W2236651906","https://openalex.org/W2291649624","https://openalex.org/W2413639557","https://openalex.org/W2568490384","https://openalex.org/W2683298768","https://openalex.org/W2734040660","https://openalex.org/W2886374915","https://openalex.org/W2968613791","https://openalex.org/W3033404896","https://openalex.org/W3084065756","https://openalex.org/W3090022444","https://openalex.org/W3186176241","https://openalex.org/W3192891273","https://openalex.org/W3209469294","https://openalex.org/W3210082380","https://openalex.org/W4205966649","https://openalex.org/W4206517348","https://openalex.org/W4292249799","https://openalex.org/W4312537150","https://openalex.org/W4312842139","https://openalex.org/W4313132435","https://openalex.org/W4317548742","https://openalex.org/W4388454780"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2093826578","https://openalex.org/W4294237266","https://openalex.org/W3195565206","https://openalex.org/W647040144","https://openalex.org/W2558143469","https://openalex.org/W2176704059","https://openalex.org/W4375811566"],"abstract_inverted_index":{"With":[0],"the":[1,26,29,35,40,98,102,138,166,173,181,206,209],"rapid":[2],"development":[3],"of":[4,31,53,76,101,104,176,208],"uncrewed":[5],"aerial":[6],"vehicle":[7],"(UAV)":[8],"technology":[9],"in":[10,34,39],"recent":[11],"years,":[12],"research":[13],"on":[14],"large-scale":[15],"low-altitude":[16],"UAV":[17],"air":[18,43,73],"traffic":[19,44,74,78],"management":[20,45],"(ATM)":[21],"has":[22],"gained":[23],"attention.":[24],"Unlike":[25],"traditional":[27],"ATM,":[28,49],"number":[30],"small":[32],"UAVs":[33,110,162,178],"airspace":[36,50,70],"may":[37],"be":[38],"millions,":[41],"making":[42],"challenging.":[46],"In":[47,58,93],"an":[48,69],"is":[51,66,82,117,121,191],"composed":[52],"airways,":[54],"intersections,":[55],"and":[56,90,107,143,152,184,199],"nodes.":[57],"this":[59,94],"paper,":[60,95],"a":[61,85,114,124],"three-dimensional":[62],"(3-D)":[63],"roundabout":[64,116,126,168],"model":[65,175],"utilized":[67],"as":[68,123],"structure":[71],"for":[72,96,194],"intersections":[75],"known":[77],"network":[79],"models,":[80],"which":[81,120,190],"decomposed":[83],"into":[84,179],"central":[86],"island,":[87],"several":[88],"ramps,":[89],"buffer":[91],"zones.":[92],"simplicity,":[97],"distributed":[99],"coordination":[100],"motions":[103],"Vertical":[105],"TakeOff":[106],"Landing":[108],"(VTOL)":[109],"to":[111,158,204],"pass":[112,164],"through":[113,165],"3-D":[115,125,139,167],"focused":[118],"on,":[119],"formulated":[122],"passing-through":[127],"problem.":[128],"The":[129],"corresponding":[130],"control":[131,183,186],"objectives":[132],"include":[133],"inter-agent":[134],"conflict-free,":[135],"keeping":[136],"within":[137],"curved":[140],"virtual":[141],"tube,":[142],"avoiding":[144],"local":[145],"minima.":[146],"Lyapunov-like":[147],"functions":[148],"are":[149,188,202],"designed":[150],"elaborately,":[151],"formal":[153],"analysisis<italic":[154],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[155],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[156],"</i>made":[157],"show":[159,205],"that":[160],"all":[161],"can":[163],"without":[169],"getting":[170],"trapped.":[171],"Taking":[172],"kinematic":[174],"VTOL":[177],"consideration,":[180],"horizontal":[182],"attitude":[185],"channels":[187],"decoupled,":[189],"more":[192],"reasonable":[193],"practical":[195],"applications.":[196],"Numerical":[197],"simulation":[198],"real":[200],"experiment":[201],"given":[203],"effectiveness":[207],"proposed":[210],"method.":[211]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}