{"id":"https://openalex.org/W2972662167","doi":"https://doi.org/10.23919/acc.2019.8815191","title":"Flatness-based model predictive trajectory optimization for inspection tasks of multirotors","display_name":"Flatness-based model predictive trajectory optimization for inspection tasks of multirotors","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2972662167","doi":"https://doi.org/10.23919/acc.2019.8815191","mag":"2972662167"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2019.8815191","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2019.8815191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 American Control Conference (ACC)","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/A5007653807","display_name":"Thomas Konrad","orcid":"https://orcid.org/0000-0002-4516-7387"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Konrad","raw_affiliation_strings":["Institute of Automatic Control, RWTH Aachen University, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024184912","display_name":"Tobias Salesch","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tobias Salesch","raw_affiliation_strings":["Institute of Automatic Control, RWTH Aachen University, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029739081","display_name":"Dirk Abel","orcid":"https://orcid.org/0000-0003-0286-3654"},"institutions":[{"id":"https://openalex.org/I4210145899","display_name":"Westf\u00e4lische Hochschule","ror":"https://ror.org/04p7ekn23","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210145899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Abel","raw_affiliation_strings":["Rheinisch-Westfalische Technische Hochschule Aachen, Aachen, Nordrhein-Westfalen, DE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rheinisch-Westfalische Technische Hochschule Aachen, Aachen, Nordrhein-Westfalen, DE","institution_ids":["https://openalex.org/I4210145899"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1686,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.48854627,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2264","last_page":"2270"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9966999888420105,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9966999888420105,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9958999752998352,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9952999949455261,"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/multirotor","display_name":"Multirotor","score":0.776532769203186},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7625089883804321},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.7393690943717957},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7094519734382629},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.589085578918457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5725820064544678},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5504105687141418},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.49015292525291443},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.4832649827003479},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4772377014160156},{"id":"https://openalex.org/keywords/state-variable","display_name":"State variable","score":0.46906185150146484},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.3017065227031708},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.292341947555542},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.26331812143325806},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.22470954060554504},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21083325147628784},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14197367429733276},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11541816592216492}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.776532769203186},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7625089883804321},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.7393690943717957},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7094519734382629},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.589085578918457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5725820064544678},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5504105687141418},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.49015292525291443},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.4832649827003479},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4772377014160156},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.46906185150146484},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3017065227031708},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.292341947555542},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.26331812143325806},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.22470954060554504},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21083325147628784},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14197367429733276},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11541816592216492},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc.2019.8815191","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2019.8815191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 American Control Conference (ACC)","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":0.8500000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1552319742","https://openalex.org/W1846830349","https://openalex.org/W2006619020","https://openalex.org/W2008277209","https://openalex.org/W2012268877","https://openalex.org/W2013439434","https://openalex.org/W2059493488","https://openalex.org/W2060794637","https://openalex.org/W2139170671","https://openalex.org/W2229940056","https://openalex.org/W2324108981","https://openalex.org/W2512660325","https://openalex.org/W2559336140","https://openalex.org/W2626651832","https://openalex.org/W2738074993","https://openalex.org/W2743116760","https://openalex.org/W2895719192","https://openalex.org/W2904160400","https://openalex.org/W2991881784","https://openalex.org/W4294358747"],"related_works":["https://openalex.org/W4319787269","https://openalex.org/W2036696762","https://openalex.org/W1573206772","https://openalex.org/W2097175811","https://openalex.org/W4385831801","https://openalex.org/W3118242377","https://openalex.org/W2369722467","https://openalex.org/W1567987740","https://openalex.org/W2092100390","https://openalex.org/W2101530879"],"abstract_inverted_index":{"In":[0,37],"industrial":[1],"surface":[2,12],"inspection,":[3],"unmanned":[4],"mul-tirotors":[5],"are":[6,92],"required":[7],"to":[8,83,107],"fly":[9],"over":[10],"a":[11,15,53,124],"area":[13],"at":[14,86],"given":[16],"distance":[17],"and":[18,25,33,46,56,70,117,135],"reference":[19,137],"velocity,":[20],"in":[21,140],"consideration":[22],"of":[23,52,111,130,143],"state":[24,67],"input":[26],"constraints":[27,116],"imposed":[28],"by":[29,95],"the":[30,34,40,97,115,132,136,141],"measurement":[31],"system":[32],"multirotor":[35],"itself.":[36],"this":[38,74],"paper,":[39],"trajectory":[41,61],"control":[42],"task":[43],"is":[44,101],"investigated":[45],"split":[47],"into":[48],"an":[49,57],"offline":[50],"generation":[51],"suitable":[54],"path":[55,134],"online":[58],"model":[59],"predictive":[60],"optimization,":[62],"paired":[63],"with":[64,123],"subordinate":[65],"flatness-based":[66],"feedback":[68],"linearization":[69],"stabilizing":[71],"controllers.":[72],"With":[73],"architecture,":[75],"only":[76],"one":[77],"constrained":[78],"quadratic":[79],"programming":[80],"problem":[81],"needs":[82],"be":[84],"solved":[85],"each":[87],"time":[88],"step,":[89],"since":[90],"nonlinearities":[91],"accounted":[93],"for":[94],"using":[96],"inverse":[98],"terms.":[99],"Velocity":[100],"employed":[102],"as":[103],"primary":[104],"optimization":[105],"variable":[106],"achieve":[108],"smooth":[109],"tracking":[110,128],"references,":[112],"time-optimality":[113],"within":[114],"implicit":[118],"integrating":[119],"behavior.":[120],"Outdoor":[121],"experiments":[122],"quadrotor":[125],"show":[126],"good":[127],"performance":[129],"both":[131],"pre-calculated":[133],"velocity":[138],"even":[139],"presence":[142],"wind":[144],"disturbances.":[145]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
