{"id":"https://openalex.org/W4285400531","doi":"https://doi.org/10.1109/ur55393.2022.9826246","title":"M-BRIC: Design of Mass-driven Bi-Rotor with RL-based Intelligent Controller","display_name":"M-BRIC: Design of Mass-driven Bi-Rotor with RL-based Intelligent Controller","publication_year":2022,"publication_date":"2022-07-04","ids":{"openalex":"https://openalex.org/W4285400531","doi":"https://doi.org/10.1109/ur55393.2022.9826246"},"language":"en","primary_location":{"id":"doi:10.1109/ur55393.2022.9826246","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur55393.2022.9826246","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 19th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-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/A5100643560","display_name":"Dongkyu Lee","orcid":"https://orcid.org/0000-0002-9418-3973"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Dongkyu Lee","raw_affiliation_strings":["Robotics Program at KAIST (Korea Advanced Institute of Science and Technology),Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"Robotics Program at KAIST (Korea Advanced Institute of Science and Technology),Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033233478","display_name":"Eungchang Mason Lee","orcid":"https://orcid.org/0000-0003-0219-784X"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"EungChang Mason Lee","raw_affiliation_strings":["KI-AI at KAIST,School of Electrical Engineering,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"KI-AI at KAIST,School of Electrical Engineering,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039845236","display_name":"Duckyu Choi","orcid":"https://orcid.org/0000-0002-0050-8627"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Duckyu Choi","raw_affiliation_strings":["KI-AI at KAIST,School of Electrical Engineering,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"KI-AI at KAIST,School of Electrical Engineering,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102737549","display_name":"Junho Choi","orcid":"https://orcid.org/0000-0001-8799-5976"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Junho Choi","raw_affiliation_strings":["KI-AI at KAIST,School of Electrical Engineering,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"KI-AI at KAIST,School of Electrical Engineering,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001820400","display_name":"Christian Tirtawardhana","orcid":"https://orcid.org/0000-0001-5998-8277"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Christian Tirtawardhana","raw_affiliation_strings":["KI-AI at KAIST,School of Electrical Engineering,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"KI-AI at KAIST,School of Electrical Engineering,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059521863","display_name":"Hyun Myung","orcid":"https://orcid.org/0000-0002-5799-2026"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun Myung","raw_affiliation_strings":["KI-AI at KAIST,School of Electrical Engineering,Daejeon,Republic of Korea,34141"],"affiliations":[{"raw_affiliation_string":"KI-AI at KAIST,School of Electrical Engineering,Daejeon,Republic of Korea,34141","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100643560"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.9237,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.81156613,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"12","issue":null,"first_page":"103","last_page":"108"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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":0.9986000061035156,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/controller","display_name":"Controller (irrigation)","score":0.6694334149360657},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6254066228866577},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5354101657867432},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5343742966651917},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.49004828929901123},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.4276025891304016},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40131449699401855},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3512793779373169},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33792564272880554},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2661195695400238},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.249839186668396},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13082778453826904}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6694334149360657},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6254066228866577},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5354101657867432},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5343742966651917},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.49004828929901123},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.4276025891304016},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40131449699401855},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3512793779373169},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33792564272880554},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2661195695400238},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.249839186668396},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13082778453826904},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur55393.2022.9826246","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur55393.2022.9826246","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 19th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W2011916365","https://openalex.org/W2148778218","https://openalex.org/W2318190363","https://openalex.org/W2733312032","https://openalex.org/W2736601468","https://openalex.org/W2781538372","https://openalex.org/W2892141784","https://openalex.org/W2907877674","https://openalex.org/W3008672204","https://openalex.org/W3088572230","https://openalex.org/W3089132088","https://openalex.org/W3130508491","https://openalex.org/W3188278405","https://openalex.org/W3192200431","https://openalex.org/W3192271106","https://openalex.org/W3198308353","https://openalex.org/W3213974477","https://openalex.org/W4286963241","https://openalex.org/W6741002519","https://openalex.org/W6800004206","https://openalex.org/W6801964084"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2966028239","https://openalex.org/W2526240748","https://openalex.org/W2909947097","https://openalex.org/W2264340699","https://openalex.org/W4286283119","https://openalex.org/W2890534329","https://openalex.org/W2072093554"],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1],"vehicles":[2],"(UAVs)":[3],"have":[4],"been":[5],"widely":[6],"used":[7],"in":[8,45,91,157],"complex":[9],"applications,":[10,22],"such":[11],"as":[12],"military,":[13],"exploration,":[14],"and":[15,33,73,115,129,143],"rescue.":[16],"Although":[17],"there":[18],"are":[19,51,141,155],"many":[20],"quadcopter":[21],"the":[23,38,82,97,103,144,148,158],"bi-copter":[24,39],"like":[25],"a":[26,63,125],"coaxial":[27],"helicopter":[28],"has":[29],"apparent":[30],"energy":[31],"efficiency":[32],"scalability":[34],"advantages.":[35],"What":[36],"makes":[37],"challenging":[40],"to":[41,101],"use":[42],"is":[43,99,121,124],"difficulty":[44],"control":[46],"because":[47],"additional":[48],"mechanical":[49],"structures":[50],"essential":[52],"for":[53],"stable":[54],"movement.":[55],"This":[56],"paper":[57],"tackles":[58],"this":[59],"problem":[60],"by":[61],"proposing":[62],"novel":[64],"bi-rotor":[65],"design":[66],"called":[67],"M-BRIC":[68],"with":[69,138,151],"rotatable":[70],"weight":[71,78],"rods":[72,79],"reinforcement":[74],"learning-based":[75],"controller.":[76],"Two":[77],"that":[80],"affect":[81],"model\u2019s":[83],"center":[84],"of":[85,96,147],"mass":[86],"(CoM)":[87],"allow":[88],"higher":[89],"maneuverability":[90],"horizontal":[92],"directions.":[93],"The":[94],"controller":[95,149],"model":[98],"trained":[100,150],"reach":[102],"random":[104],"target":[105],"point":[106],"reliably":[107],"using":[108],"Proximal":[109],"Policy":[110],"Optimization":[111],"(PPO).":[112],"To":[113],"train":[114],"test":[116],"M-BRIC,":[117],"NVIDIA":[118],"Isaac":[119],"Gym":[120],"adopted,":[122],"which":[123],"state-of-the-art":[126],"physics":[127],"simulation":[128],"supports":[130],"superfast":[131],"parallel":[132],"training.":[133],"Finally,":[134],"four":[135],"reward":[136,153],"functions":[137],"different":[139],"characteristics":[140],"designed,":[142],"tracking":[145],"performances":[146],"each":[152],"function":[154],"compared":[156],"simulation.":[159]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}