{"id":"https://openalex.org/W2743522256","doi":"https://doi.org/10.1109/urai.2017.7992720","title":"Model predictive control of a multi-rotor with a slung load for avoiding obstacles","display_name":"Model predictive control of a multi-rotor with a slung load for avoiding obstacles","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2743522256","doi":"https://doi.org/10.1109/urai.2017.7992720","mag":"2743522256"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2017.7992720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2017.7992720","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5006612677","display_name":"Clark Youngdong Son","orcid":"https://orcid.org/0000-0003-0626-4173"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Clark Youngdong Son","raw_affiliation_strings":["Department of Aerospace Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100329528","display_name":"Taewan Kim","orcid":"https://orcid.org/0000-0001-9449-7502"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Taewan Kim","raw_affiliation_strings":["Department of Aerospace Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101904804","display_name":"Suseong Kim","orcid":"https://orcid.org/0000-0003-0833-8631"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Suseong Kim","raw_affiliation_strings":["Department of Aerospace Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073996122","display_name":"H. Jin Kim","orcid":"https://orcid.org/0000-0002-6819-1136"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"H. Jin Kim","raw_affiliation_strings":["Department of Aerospace Engineering, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"232","last_page":"237"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9962000250816345,"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":0.9962000250816345,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9876000285148621,"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/control-theory","display_name":"Control theory (sociology)","score":0.6837939023971558},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6660417318344116},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6286002397537231},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6065444350242615},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5879564881324768},{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.5455734729766846},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.49650412797927856},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.48156192898750305},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.4363269507884979},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36408549547195435},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3323028087615967},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32848337292671204},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1874154508113861},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17777949571609497},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10741713643074036},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.08988454937934875}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6837939023971558},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6660417318344116},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6286002397537231},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6065444350242615},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5879564881324768},{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.5455734729766846},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.49650412797927856},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.48156192898750305},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.4363269507884979},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36408549547195435},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3323028087615967},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32848337292671204},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1874154508113861},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17777949571609497},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10741713643074036},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.08988454937934875},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2017.7992720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2017.7992720","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1568784080","https://openalex.org/W1964948050","https://openalex.org/W2050129189","https://openalex.org/W2058475458","https://openalex.org/W2114808012","https://openalex.org/W2291528532","https://openalex.org/W2295546444","https://openalex.org/W2418368699","https://openalex.org/W2528553194"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W1990852472","https://openalex.org/W2042183996","https://openalex.org/W2525786742","https://openalex.org/W2077345734","https://openalex.org/W4299961540","https://openalex.org/W4386630882","https://openalex.org/W2031895052","https://openalex.org/W200853570","https://openalex.org/W2260704152"],"abstract_inverted_index":{"This":[0,103],"paper":[1],"addresses":[2],"the":[3,17,32,38,47,71,130,145,148,158,173],"control":[4,68,82,104,110],"problem":[5,111],"of":[6,8,16,31,139],"transportation":[7],"a":[9,13,95,107,113],"slung":[10,18,149,159],"load":[11,19,33,150,160],"by":[12],"multi-rotor.":[14,39,141],"Control":[15,100],"system":[20,161],"cannot":[21],"be":[22],"achieved":[23],"with":[24,37,112],"usual":[25],"controllers":[26,42],"for":[27,46,80,157,164],"multirotors":[28],"because":[29],"motion":[30],"is":[34,77,162],"highly":[35],"coupled":[36],"Although":[40],"many":[41,59],"have":[43],"been":[44],"developed":[45,163,174],"system,":[48],"there":[49],"still":[50],"exist":[51],"several":[52],"problems.":[53],"For":[54],"instance,":[55],"in":[56,91,123],"trajectory-following":[57,67],"control,":[58],"previous":[60],"works":[61],"make":[62],"trajectory":[63],"beforehand,":[64],"and":[65,133],"perform":[66],"afterward.":[69],"Since":[70],"time":[72,115,132],"spent":[73],"to":[74,147,171],"generate":[75],"trajectories":[76],"too":[78],"long":[79],"real-time":[81,136],"applications,":[83],"alternative":[84],"efficient":[85],"algorithms":[86],"are":[87,169],"required.":[88],"With":[89],"this":[90],"mind,":[92],"we":[93,143],"adopt":[94],"fast":[96],"nonlinear":[97,108],"Model":[98],"Predictive":[99],"(MPC)":[101],"algorithm.":[102],"framework":[105,146],"solves":[106],"optimal":[109],"finite":[114],"horizon":[116],"using":[117],"Sequential":[118],"Linear":[119],"Quadratic":[120],"(SLQ)":[121],"solver,":[122],"MPC.":[124],"The":[125],"originally":[126],"proposed":[127],"work":[128],"optimizes":[129],"implementation":[131],"successfully":[134],"conducts":[135],"waypoint":[137],"flight":[138],"general":[140],"Here,":[142],"apply":[144],"system.":[151],"Also,":[152],"an":[153],"obstacle-avoidance":[154],"algorithm":[155],"suitable":[156],"cluttered":[165],"environments.":[166],"Numerical":[167],"simulations":[168],"conducted":[170],"validate":[172],"method.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
