{"id":"https://openalex.org/W7124134035","doi":"https://doi.org/10.1109/codit66093.2025.11321850","title":"Least energy trajectory generation for quadrotors using rotor acceleration as control inputs","display_name":"Least energy trajectory generation for quadrotors using rotor acceleration as control inputs","publication_year":2025,"publication_date":"2025-07-15","ids":{"openalex":"https://openalex.org/W7124134035","doi":"https://doi.org/10.1109/codit66093.2025.11321850"},"language":null,"primary_location":{"id":"doi:10.1109/codit66093.2025.11321850","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit66093.2025.11321850","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 11th International Conference on Control, Decision and Information Technologies (CoDIT)","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/A5013228906","display_name":"Paraj Ganchaudhuri","orcid":"https://orcid.org/0009-0005-1859-4454"},"institutions":[{"id":"https://openalex.org/I1317621060","display_name":"Indian Institute of Technology Guwahati","ror":"https://ror.org/0022nd079","country_code":"IN","type":"education","lineage":["https://openalex.org/I1317621060"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Paraj Ganchaudhuri","raw_affiliation_strings":["Indian Institute of Technology,Department of Electronics and Electrical Engineering,Guwahati,India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology,Department of Electronics and Electrical Engineering,Guwahati,India","institution_ids":["https://openalex.org/I1317621060"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042858792","display_name":"Chayan Bhawal","orcid":"https://orcid.org/0000-0003-3477-3725"},"institutions":[{"id":"https://openalex.org/I1317621060","display_name":"Indian Institute of Technology Guwahati","ror":"https://ror.org/0022nd079","country_code":"IN","type":"education","lineage":["https://openalex.org/I1317621060"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Chayan Bhawal","raw_affiliation_strings":["Indian Institute of Technology,Department of Electronics and Electrical Engineering,Guwahati,India"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology,Department of Electronics and Electrical Engineering,Guwahati,India","institution_ids":["https://openalex.org/I1317621060"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5013228906"],"corresponding_institution_ids":["https://openalex.org/I1317621060"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.76582731,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2928","last_page":"2933"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.34060001373291016,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.34060001373291016,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.16329999268054962,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.07000000029802322,"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/control-theory","display_name":"Control theory (sociology)","score":0.7465000152587891},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6948999762535095},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6920999884605408},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5942000150680542},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.5745999813079834},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5555999875068665},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4984999895095825},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.49639999866485596}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7465000152587891},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6948999762535095},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6920999884605408},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5942000150680542},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.5745999813079834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5604000091552734},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5555999875068665},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4984999895095825},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.49639999866485596},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.45179998874664307},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.42179998755455017},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4196999967098236},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4106999933719635},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.30730000138282776},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3059999942779541},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.298799991607666},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.2784000039100647},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C14961307","wikidata":"https://www.wikidata.org/wiki/Q5377176","display_name":"Energy minimization","level":2,"score":0.2558000087738037}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit66093.2025.11321850","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit66093.2025.11321850","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 11th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9093835949897766}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321408","display_name":"Ministry of Education","ror":"https://ror.org/01p262204"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1973734421","https://openalex.org/W2026260559","https://openalex.org/W2130527887","https://openalex.org/W2414661092","https://openalex.org/W2565201867","https://openalex.org/W2964023906","https://openalex.org/W3110257271","https://openalex.org/W3115329715","https://openalex.org/W4206111066","https://openalex.org/W4206933963","https://openalex.org/W4297486063","https://openalex.org/W4384945894"],"related_works":[],"abstract_inverted_index":{"Quadrotors":[0],"hold":[1],"significant":[2],"promise":[3],"for":[4],"aerial":[5],"transportation":[6],"but":[7],"are":[8,49,92],"constrained":[9],"by":[10,64],"high":[11],"energy":[12,115],"demands":[13],"and":[14,41,71,82,90],"limited":[15],"battery":[16],"capacity.":[17],"Energy-efficient":[18],"trajectory":[19],"planning,":[20],"based":[21],"on":[22,87],"physics-based":[23],"models,":[24],"offers":[25],"a":[26,78],"practical":[27],"alternative":[28],"when":[29],"hardware":[30],"optimization":[31],"is":[32],"not":[33],"feasible.":[34],"However,":[35],"existing":[36],"formulations":[37],"often":[38],"model":[39],"thrust":[40],"torque":[42],"as":[43,68],"inputs,":[44],"leading":[45],"to":[46,51],"trajectories":[47],"that":[48],"difficult":[50],"realize":[52],"in":[53,96],"practice.":[54],"In":[55],"this":[56],"work,":[57],"we":[58,103],"reformulate":[59],"the":[60,113],"optimal":[61],"control":[62,69],"problem":[63],"using":[65],"rotor":[66,88,108],"accelerations":[67,91],"inputs":[70],"allowing":[72],"an":[73],"open":[74],"final":[75],"time,":[76],"enabling":[77],"balance":[79],"between":[80],"hover":[81],"propulsion":[83],"energy.":[84],"Practical":[85],"constraints":[86],"speeds":[89],"explicitly":[93],"incorporated,":[94],"resulting":[95],"feasible,":[97],"least-energy":[98],"trajectories.":[99],"Through":[100],"numerical":[101],"simulations,":[102],"further":[104],"demonstrate":[105],"how":[106],"optimizing":[107],"parameters":[109],"can":[110],"significantly":[111],"reduce":[112],"total":[114],"consumption.":[116]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-01-15T00:00:00"}
