{"id":"https://openalex.org/W2972754625","doi":"https://doi.org/10.1109/i2mtc.2019.8827131","title":"Constrained Kalman Filter for Adaptive Prediction in Minidrone Flight","display_name":"Constrained Kalman Filter for Adaptive Prediction in Minidrone Flight","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2972754625","doi":"https://doi.org/10.1109/i2mtc.2019.8827131","mag":"2972754625"},"language":"en","primary_location":{"id":"doi:10.1109/i2mtc.2019.8827131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/i2mtc.2019.8827131","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)","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/A5011588154","display_name":"Marco Andreetto","orcid":"https://orcid.org/0000-0002-5616-2477"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"M. Andreetto","raw_affiliation_strings":["Dep. of Information Engineering and Computer Science, University of Trento, Trento, Italy"],"affiliations":[{"raw_affiliation_string":"Dep. of Information Engineering and Computer Science, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006224560","display_name":"Luigi Palopoli","orcid":"https://orcid.org/0000-0001-8813-8685"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"L. Palopoli","raw_affiliation_strings":["Dep. of Information Engineering and Computer Science, University of Trento, Trento, Italy"],"affiliations":[{"raw_affiliation_string":"Dep. of Information Engineering and Computer Science, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045097296","display_name":"Daniele Fontanelli","orcid":"https://orcid.org/0000-0002-5486-9989"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"D. Fontanelli","raw_affiliation_strings":["Dep. of Industrial Engineering, University of Trento, Trento, Italy"],"affiliations":[{"raw_affiliation_string":"Dep. of Industrial Engineering, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5011588154"],"corresponding_institution_ids":["https://openalex.org/I193223587"],"apc_list":null,"apc_paid":null,"fwci":0.5786,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.76012418,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9873999953269958,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9865999817848206,"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/kalman-filter","display_name":"Kalman filter","score":0.7155476212501526},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7032892107963562},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.698112428188324},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6323415637016296},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5722578167915344},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5298922657966614},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4919869601726532},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.48087671399116516},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4497992694377899},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38883286714553833},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38216057419776917},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23926392197608948},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16571500897407532}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7155476212501526},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7032892107963562},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.698112428188324},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6323415637016296},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5722578167915344},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5298922657966614},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4919869601726532},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.48087671399116516},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4497992694377899},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38883286714553833},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38216057419776917},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23926392197608948},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16571500897407532},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/i2mtc.2019.8827131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/i2mtc.2019.8827131","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unitn.it:11572/250921","is_oa":false,"landing_page_url":"http://hdl.handle.net/11572/250921","pdf_url":null,"source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2013002270","https://openalex.org/W2015123755","https://openalex.org/W2029027380","https://openalex.org/W2046580977","https://openalex.org/W2060126343","https://openalex.org/W2136429644","https://openalex.org/W2162991084","https://openalex.org/W2325745033","https://openalex.org/W2509760602","https://openalex.org/W2522647290","https://openalex.org/W2560308514","https://openalex.org/W2803598492","https://openalex.org/W3105683115"],"related_works":["https://openalex.org/W2089114113","https://openalex.org/W2389555968","https://openalex.org/W2352634297","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"The":[0,70,88],"minidrone":[1],"Parrot":[2],"Mambo\u00ae":[3],"is":[4,16,90,117],"a":[5,24,56,75,84,113],"promising":[6],"robotic":[7],"platform":[8],"for":[9,35],"education":[10],"control":[11],"purposes.":[12],"An":[13],"important":[14],"limitation":[15],"that":[17],"its":[18],"SDK":[19],"provides":[20],"sensor":[21,67],"data":[22,68],"with":[23,55,96],"maximum":[25],"nominal":[26],"frequency":[27],"of":[28,44,128],"just":[29],"2":[30],"Hz,":[31],"creating":[32],"objective":[33],"difficulties":[34],"feedback":[36],"control.":[37],"This":[38],"paper":[39],"proposes":[40],"an":[41],"observer":[42],"capable":[43],"generating":[45],"prediction":[46,115],"on":[47],"the":[48,53,61,65,108,126],"data,":[49],"which":[50],"allows":[51],"feeding":[52],"controller":[54],"much":[57],"faster":[58],"rate":[59],"than":[60],"one":[62],"allowed":[63],"by":[64,74],"slow":[66],"rate.":[69],"predictions":[71],"are":[72,80],"generated":[73],"linear":[76],"model,":[77],"whose":[78],"parameters":[79],"identified":[81],"on-line":[82],"using":[83],"Constrained":[85],"Kalman":[86],"Filter.":[87],"strategy":[89],"successfully":[91],"validated":[92],"via":[93],"extensive":[94],"experiments":[95],"real":[97],"drones":[98],"performing":[99],"altitude":[100],"stabilisation":[101],"and":[102,120],"trajectory":[103],"tracking":[104],"tasks.":[105],"In":[106],"particular,":[107],"constrained":[109],"model":[110],"identification":[111],"preserves":[112],"stable":[114],"(which":[116],"physically":[118],"meaningful),":[119],"hence":[121],"safe":[122],"flight,":[123],"even":[124],"in":[125],"presence":[127],"large":[129],"disturbances.":[130]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
