{"id":"https://openalex.org/W1977042701","doi":"https://doi.org/10.1163/016918610x493570","title":"Transition between Level Flight and Hovering of a Tail-Sitter Vertical Takeoff and Landing Aerial Robot","display_name":"Transition between Level Flight and Hovering of a Tail-Sitter Vertical Takeoff and Landing Aerial Robot","publication_year":2010,"publication_date":"2010-01-01","ids":{"openalex":"https://openalex.org/W1977042701","doi":"https://doi.org/10.1163/016918610x493570","mag":"1977042701"},"language":"en","primary_location":{"id":"doi:10.1163/016918610x493570","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918610x493570","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-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/A5062331856","display_name":"Koichi Kita","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Kita","raw_affiliation_strings":["a    Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan;, Email: kita@space.mech.tohoku.ac.jp","a Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan;, Email: kita@space.mech.tohoku.ac.jp"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a    Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan;, Email: kita@space.mech.tohoku.ac.jp","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"a Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan;, Email: kita@space.mech.tohoku.ac.jp","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063403718","display_name":"Atsushi Konno","orcid":"https://orcid.org/0000-0003-3288-8844"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Konno","raw_affiliation_strings":["b    Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan","b Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b    Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"b Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083473038","display_name":"Masaru Uchiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaru Uchiyama","raw_affiliation_strings":["c    Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan","c Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"c    Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"c Department of Aerospace Engineering, Graduate School of Engineering, Tohoku University, 6-6 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":3.0793,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.9202351,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"24","issue":"5-6","first_page":"763","last_page":"781"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9994999766349792,"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":0.9991000294685364,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/aileron","display_name":"Aileron","score":0.8914529085159302},{"id":"https://openalex.org/keywords/takeoff-and-landing","display_name":"Takeoff and landing","score":0.8399268388748169},{"id":"https://openalex.org/keywords/takeoff","display_name":"Takeoff","score":0.7826801538467407},{"id":"https://openalex.org/keywords/rudder","display_name":"Rudder","score":0.7116190195083618},{"id":"https://openalex.org/keywords/elevator","display_name":"Elevator","score":0.6484848260879517},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5471720099449158},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4881909489631653},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4590017795562744},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4084765315055847},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3273022174835205},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3201504945755005},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.2815849781036377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14960220456123352},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1459294557571411}],"concepts":[{"id":"https://openalex.org/C144918251","wikidata":"https://www.wikidata.org/wiki/Q509379","display_name":"Aileron","level":3,"score":0.8914529085159302},{"id":"https://openalex.org/C2780631144","wikidata":"https://www.wikidata.org/wiki/Q20046585","display_name":"Takeoff and landing","level":2,"score":0.8399268388748169},{"id":"https://openalex.org/C2777717826","wikidata":"https://www.wikidata.org/wiki/Q854248","display_name":"Takeoff","level":2,"score":0.7826801538467407},{"id":"https://openalex.org/C183776436","wikidata":"https://www.wikidata.org/wiki/Q209760","display_name":"Rudder","level":2,"score":0.7116190195083618},{"id":"https://openalex.org/C147021018","wikidata":"https://www.wikidata.org/wiki/Q252451","display_name":"Elevator","level":2,"score":0.6484848260879517},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5471720099449158},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4881909489631653},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4590017795562744},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4084765315055847},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3273022174835205},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3201504945755005},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.2815849781036377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14960220456123352},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1459294557571411}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/016918610x493570","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918610x493570","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6600000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W2023721018","https://openalex.org/W2107158558","https://openalex.org/W2123687165","https://openalex.org/W2577647445"],"related_works":["https://openalex.org/W1989522843","https://openalex.org/W2737241489","https://openalex.org/W2900221832","https://openalex.org/W2787736607","https://openalex.org/W1542375322","https://openalex.org/W765102237","https://openalex.org/W2471779853","https://openalex.org/W1564483543","https://openalex.org/W1525073883","https://openalex.org/W2499415631"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,41,75,96,100,111,114,118,130,159,162,170],"vertical":[4,17],"takeoff,":[5,177],"landing":[6,20,179],"and":[7,12,19,61,69,164,175,178],"transition":[8,89,97,112,131,171],"between":[9,172],"level":[10,173],"flight":[11,80,90,132,174],"hovering":[13],"of":[14,117,161],"a":[15,59,62,70,85,135,145],"tail-sitter":[16,25,46],"takeoff":[18],"(VTOL)":[21],"aerial":[22,30,47,76],"robot.":[23],"The":[24,44,153,166],"is":[26,49,92,121,139,148,156],"suitable":[27],"for":[28,40,54,78],"micro":[29,65],"vehicles":[31],"because":[32],"it":[33],"does":[34],"not":[35],"need":[36],"any":[37,82],"extra":[38],"equipment":[39],"VTOL":[42],"maneuver.":[43],"developed":[45],"robot":[48,77],"equipped":[50],"with":[51],"four":[52],"actuators":[53],"controlling":[55],"ailerons,":[56],"an":[57,104,126],"elevator,":[58],"rudder":[60,163],"propeller.":[63],"A":[64,88],"computer,":[66],"various":[67],"sensors":[68],"battery":[71],"are":[72,180],"mounted":[73],"on":[74,169],"autonomous":[79],"without":[81],"support":[83],"from":[84],"ground":[86],"system.":[87],"strategy":[91],"constructed":[93],"so":[94],"that":[95],"finishes":[98],"in":[99],"shortest":[101],"time":[102],"restricting":[103],"altitude":[105,151],"change.":[106],"In":[107,129],"order":[108],"to":[109,141,150,158],"achieve":[110],"strategy,":[113],"reference":[115],"trajectory":[116],"pitch":[119],"angle":[120],"computed":[122],"offline":[123],"by":[124],"using":[125],"optimization":[127],"technique.":[128],"control":[133,160],"system,":[134],"PID":[136],"feedback":[137],"controller":[138,147],"applied":[140,149,157],"attitude":[142],"control,":[143],"while":[144],"feedforward":[146],"control.":[152],"gain":[154],"scheduling":[155],"aileron.":[165],"experimental":[167],"results":[168],"hovering,":[176],"presented.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}