{"id":"https://openalex.org/W4405715755","doi":"https://doi.org/10.1109/tro.2026.3688101","title":"Allocation for Omnidirectional Aerial Robots: Incorporating Power Dynamics","display_name":"Allocation for Omnidirectional Aerial Robots: Incorporating Power Dynamics","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W4405715755","doi":"https://doi.org/10.1109/tro.2026.3688101"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2026.3688101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3688101","pdf_url":null,"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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2412.16107","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024864749","display_name":"Eugenio Cuniato","orcid":"https://orcid.org/0000-0001-6406-3308"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Eugenio Cuniato","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-6406-3308","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034078271","display_name":"Mike Allenspach","orcid":"https://orcid.org/0000-0001-6903-6341"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mike Allenspach","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-6903-6341","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008065771","display_name":"Thomas Stastny","orcid":"https://orcid.org/0000-0002-7244-7026"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Thomas Stastny","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-7244-7026","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050090757","display_name":"Helen Oleynikova","orcid":"https://orcid.org/0000-0002-1831-2315"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Helen Oleynikova","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-1831-2315","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2760-7983","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032693392","display_name":"Michael Pantic","orcid":"https://orcid.org/0000-0002-2410-5152"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Michael Pantic","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2410-5152","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00470816,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"42","issue":null,"first_page":"2166","last_page":"2177"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9761999845504761,"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":0.9761999845504761,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9661999940872192,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9550999999046326,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.7931325435638428},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6972609758377075},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.6455466151237488},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5396909713745117},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.5206983685493469},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3453601002693176},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17055818438529968},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1346741020679474},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.10845410823822021}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.7931325435638428},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6972609758377075},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.6455466151237488},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5396909713745117},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.5206983685493469},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3453601002693176},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17055818438529968},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1346741020679474},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.10845410823822021},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2026.3688101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3688101","pdf_url":null,"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"},{"id":"pmh:oai:arXiv.org:2412.16107","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2412.16107","pdf_url":"https://arxiv.org/pdf/2412.16107","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2412.16107","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2412.16107","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2412.16107","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2412.16107","pdf_url":"https://arxiv.org/pdf/2412.16107","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4211095314","https://openalex.org/W1991249326","https://openalex.org/W4214562868","https://openalex.org/W4379536980","https://openalex.org/W4289387930","https://openalex.org/W2126905924","https://openalex.org/W2281465300","https://openalex.org/W2123271278","https://openalex.org/W1972819412","https://openalex.org/W3205202509"],"abstract_inverted_index":{"Tilt-rotor":[0],"aerial":[1,51],"robots":[2],"are":[3,18],"more":[4],"dynamic":[5,63,102],"and":[6,15,25,37,43,80,93,119,142,154],"versatile":[7],"than":[8,162],"fixed-rotor":[9],"platforms,":[10],"since":[11],"the":[12,21,67,77,114,121,131,146],"thrust":[13],"vector":[14],"body":[16],"orientation":[17],"decoupled.":[19],"However,":[20],"coordination":[22],"of":[23],"servos":[24],"propellers":[26,127],"(the":[27],"allocation":[28,47,70,147],"problem)":[29],"is":[30],"not":[31,82],"trivial,":[32],"especially":[33],"accounting":[34],"for":[35,49,116],"overactuation":[36],"actuator":[38,91,140],"dynamics.":[39,96],"We":[40,65,86,137],"incrementally":[41],"build":[42],"present":[44],"three":[45],"novel":[46],"methods":[48,57],"tilt-rotor":[50],"robots,":[52],"comparing":[53],"them":[54],"to":[55,100,123,133,144,152,157],"state-of-the-art":[56,68],"on":[58],"a":[59,72,163],"real":[60],"system":[61],"performing":[62],"maneuvers.":[64],"extend":[66],"geometric":[69,164],"into":[71],"differential":[73],"allocation,":[74],"which":[75],"uses":[76],"platform's":[78],"redundancy":[79],"does":[81],"suffer":[83],"from":[84],"singularities.":[85],"expand":[87],"it":[88,150,156],"by":[89],"incorporating":[90],"dynamics":[92,141],"propeller":[94,103,111],"power":[95],"These":[97],"allow":[98],"us":[99],"model":[101],"acceleration":[104],"limits,":[105],"bringing":[106],"two":[107],"main":[108],"advantages:":[109],"balancing":[110],"speed":[112],"without":[113],"need":[115],"nullspace":[117],"goals":[118],"allowing":[120,155],"platform":[122],"selectively":[124],"turn":[125],"off":[126],"during":[128],"flight,":[129],"opening":[130],"door":[132],"new":[134],"manipulation":[135],"possibilities.":[136],"also":[138],"use":[139],"limits":[143],"normalize":[145],"problem,":[148],"making":[149],"easier":[151],"tune":[153],"track":[158],"70%":[159],"faster":[160],"trajectories":[161],"allocation.":[165]},"counts_by_year":[],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}