{"id":"https://openalex.org/W4385975664","doi":"https://doi.org/10.1109/tro.2023.3301312","title":"Aerobatic Trajectory Generation for a VTOL Fixed-Wing Aircraft Using Differential Flatness","display_name":"Aerobatic Trajectory Generation for a VTOL Fixed-Wing Aircraft Using Differential Flatness","publication_year":2023,"publication_date":"2023-08-18","ids":{"openalex":"https://openalex.org/W4385975664","doi":"https://doi.org/10.1109/tro.2023.3301312"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3301312","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2023.3301312","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10224280.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10224280.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052665885","display_name":"Ezra Tal","orcid":"https://orcid.org/0000-0002-3601-0935"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ezra Tal","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069224373","display_name":"Gilhyun Ryou","orcid":"https://orcid.org/0000-0002-6008-5881"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gilhyun Ryou","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081073767","display_name":"Serta\u00e7 Karaman","orcid":"https://orcid.org/0000-0002-2225-7275"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sertac Karaman","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5052665885"],"corresponding_institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":7.9702,"has_fulltext":true,"cited_by_count":67,"citation_normalized_percentile":{"value":0.98338879,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"39","issue":"6","first_page":"4805","last_page":"4819"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.9994000196456909,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.9987999796867371,"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/fixed-wing","display_name":"Fixed wing","score":0.836928129196167},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.7176790237426758},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6592404246330261},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.496643602848053},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.46694815158843994},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.4607705771923065},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4436124265193939},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.43292713165283203},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3971940279006958},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.32742297649383545},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26510465145111084},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18056902289390564}],"concepts":[{"id":"https://openalex.org/C3018522811","wikidata":"https://www.wikidata.org/wiki/Q2875704","display_name":"Fixed wing","level":3,"score":0.836928129196167},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.7176790237426758},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6592404246330261},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.496643602848053},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.46694815158843994},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.4607705771923065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4436124265193939},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.43292713165283203},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3971940279006958},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.32742297649383545},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26510465145111084},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18056902289390564},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3301312","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2023.3301312","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10224280.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tro.2023.3301312","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2023.3301312","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10224280.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6633881983","display_name":null,"funder_award_id":"W911NF1910322","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G7452299184","display_name":null,"funder_award_id":"W911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G8998121839","display_name":null,"funder_award_id":"911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G965573633","display_name":null,"funder_award_id":"W911NF1910","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385975664.pdf","grobid_xml":"https://content.openalex.org/works/W4385975664.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W167756786","https://openalex.org/W1605218591","https://openalex.org/W1977402712","https://openalex.org/W2057799302","https://openalex.org/W2065297540","https://openalex.org/W2079121704","https://openalex.org/W2088384463","https://openalex.org/W2111196126","https://openalex.org/W2146048330","https://openalex.org/W2161685125","https://openalex.org/W2162991084","https://openalex.org/W2166500251","https://openalex.org/W2482392012","https://openalex.org/W2586362680","https://openalex.org/W2792933703","https://openalex.org/W2906464253","https://openalex.org/W2945338643","https://openalex.org/W2948440099","https://openalex.org/W2998644151","https://openalex.org/W3000399743","https://openalex.org/W3036408458","https://openalex.org/W3164366530","https://openalex.org/W3192043231","https://openalex.org/W3206809822","https://openalex.org/W4210572125","https://openalex.org/W4307210176"],"related_works":["https://openalex.org/W2789295429","https://openalex.org/W2051353479","https://openalex.org/W2047663700","https://openalex.org/W2145266680","https://openalex.org/W2267127512","https://openalex.org/W2029869150","https://openalex.org/W2066314436","https://openalex.org/W2733767282","https://openalex.org/W1538637279","https://openalex.org/W1529590058"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"a":[3,11,34,45,104,127],"novel":[4],"algorithm":[5,22,116],"for":[6,10,27,109,137],"aerobatic":[7,125,135],"trajectory":[8,29],"generation":[9,51],"vertical":[12],"take-off":[13],"and":[14,132],"landing":[15],"(VTOL)":[16],"tailsitter":[17,84,139],"flying":[18,85],"wing":[19,86],"aircraft.":[20,140],"The":[21,74,115],"differs":[23],"from":[24],"existing":[25],"approaches":[26],"fixed-wing":[28],"generation,":[30],"as":[31],"it":[32],"considers":[33],"realistic":[35],"six-degree-of-freedom":[36],"(6-DOF)":[37],"flight":[38,59,121],"dynamics":[39,47],"model,":[40],"including":[41],"aerodynamic":[42],"equations.":[43],"Using":[44],"global":[46,83],"model":[48],"enables":[49],"the":[50,57,65,77,82,99],"of":[52,81],"aerobatics":[53],"trajectories":[54],"that":[55],"exploit":[56],"entire":[58],"envelope,":[60],"allowing":[61],"agile":[62],"maneuvering":[63],"through":[64],"stall":[66],"regime,":[67],"sideways":[68],"uncoordinated":[69],"flight,":[70,72],"inverted":[71],"etc.":[73],"method":[75],"uses":[76],"differential":[78],"flatness":[79],"property":[80],"dynamics,":[87],"which":[88],"is":[89,113,117],"derived":[90],"in":[91,98,119],"this":[92],"work.":[93],"By":[94],"performing":[95],"snap":[96],"minimization":[97],"differentially":[100],"flat":[101],"output":[102],"space,":[103],"computationally":[105],"efficient":[106],"algorithm,":[107],"suitable":[108],"online":[110],"motion":[111],"planning,":[112],"obtained.":[114],"demonstrated":[118],"extensive":[120],"experiments":[122],"encompassing":[123],"six":[124],"maneuvers,":[126],"time-optimal":[128],"drone":[129],"racing":[130],"trajectory,":[131],"an":[133],"airshowlike":[134],"sequence":[136],"three":[138]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":32},{"year":2024,"cited_by_count":23},{"year":2023,"cited_by_count":5}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}