{"id":"https://openalex.org/W4413393638","doi":"https://doi.org/10.23919/acc63710.2025.11107865","title":"Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots","display_name":"Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots","publication_year":2025,"publication_date":"2025-07-08","ids":{"openalex":"https://openalex.org/W4413393638","doi":"https://doi.org/10.23919/acc63710.2025.11107865"},"language":"en","primary_location":{"id":"doi:10.23919/acc63710.2025.11107865","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107865","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5000241620","display_name":"Jiaze Cai","orcid":"https://orcid.org/0009-0006-9465-8592"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jiaze Cai","raw_affiliation_strings":["University of California,Hybrid Robotics Group,Berkeley,CA,United States,94720"],"affiliations":[{"raw_affiliation_string":"University of California,Hybrid Robotics Group,Berkeley,CA,United States,94720","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092050275","display_name":"Vishnu Sangli","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vishnu Sangli","raw_affiliation_strings":["University of California,Hybrid Robotics Group,Berkeley,CA,United States,94720"],"affiliations":[{"raw_affiliation_string":"University of California,Hybrid Robotics Group,Berkeley,CA,United States,94720","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022869697","display_name":"Mintae Kim","orcid":"https://orcid.org/0000-0001-7643-2369"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mintae Kim","raw_affiliation_strings":["University of California,Hybrid Robotics Group,Berkeley,CA,United States,94720"],"affiliations":[{"raw_affiliation_string":"University of California,Hybrid Robotics Group,Berkeley,CA,United States,94720","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054075105","display_name":"Koushil Sreenath","orcid":"https://orcid.org/0000-0002-5346-3637"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Koushil Sreenath","raw_affiliation_strings":["University of California,Hybrid Robotics Group,Berkeley,CA,United States,94720"],"affiliations":[{"raw_affiliation_string":"University of California,Hybrid Robotics Group,Berkeley,CA,United States,94720","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5000241620"],"corresponding_institution_ids":["https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":5.3397,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.95459161,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"430","last_page":"437"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9954000115394592,"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":0.9954000115394592,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.973800003528595,"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"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9646999835968018,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/trajectory","display_name":"Trajectory","score":0.8008473515510559},{"id":"https://openalex.org/keywords/flapping","display_name":"Flapping","score":0.711786150932312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6451183557510376},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.645074725151062},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.643726110458374},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4951747953891754},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.4889043867588043},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3717935085296631},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.339751660823822},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18282097578048706},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.17436429858207703},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07034146785736084}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8008473515510559},{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.711786150932312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6451183557510376},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.645074725151062},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.643726110458374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4951747953891754},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.4889043867588043},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3717935085296631},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.339751660823822},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18282097578048706},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.17436429858207703},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07034146785736084},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc63710.2025.11107865","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107865","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322429","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1972970165","https://openalex.org/W2018666734","https://openalex.org/W2055315589","https://openalex.org/W2067909757","https://openalex.org/W2098082901","https://openalex.org/W2158782408","https://openalex.org/W2466443277","https://openalex.org/W2512777581","https://openalex.org/W2793268370","https://openalex.org/W2802990478","https://openalex.org/W2889419113","https://openalex.org/W2909011553","https://openalex.org/W2909159121","https://openalex.org/W2918282218","https://openalex.org/W2967001668","https://openalex.org/W2967600846","https://openalex.org/W3003423433","https://openalex.org/W3091237507","https://openalex.org/W3110781789","https://openalex.org/W3119760668","https://openalex.org/W3140343804","https://openalex.org/W4206231697","https://openalex.org/W4280552001","https://openalex.org/W4286374783","https://openalex.org/W4306147876","https://openalex.org/W4312703909","https://openalex.org/W4312908419","https://openalex.org/W4361282000","https://openalex.org/W4376107466","https://openalex.org/W4386718967","https://openalex.org/W4400583182","https://openalex.org/W4400905598","https://openalex.org/W4401750887","https://openalex.org/W4401752428"],"related_works":["https://openalex.org/W1970032862","https://openalex.org/W2945493325","https://openalex.org/W2624852988","https://openalex.org/W2123877307","https://openalex.org/W2972082501","https://openalex.org/W1976686391","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2373557848","https://openalex.org/W2002488624"],"abstract_inverted_index":{"Bird-sized":[0],"flapping-wing":[1,33,51,67,89],"robots":[2],"offer":[3],"significant":[4],"potential":[5],"for":[6,61,71],"agile":[7,14,75],"flight":[8,73,115],"in":[9,32],"complex":[10,25,106],"environments,":[11],"but":[12],"achieving":[13],"and":[15,27,48,74,91,118],"robust":[16],"trajectory":[17,76,108],"tracking":[18],"remains":[19],"a":[20,38,55,62],"challenge":[21],"due":[22],"to":[23,44],"the":[24,46,83,88,92,100],"aerodynamics":[26],"highly":[28],"nonlinear":[29],"dynamics":[30],"inherent":[31],"flight.":[34,52],"In":[35],"this":[36],"work,":[37],"learning-based":[39],"control":[40],"approach":[41],"is":[42],"introduced":[43],"unlock":[45],"versatility":[47],"adaptiveness":[49],"of":[50,87],"We":[53],"propose":[54],"model-free":[56],"reinforcement":[57],"learning":[58],"(RL)-based":[59],"framework":[60],"high":[63],"degree-of-freedom":[64],"(DoF)":[65],"bird-inspired":[66],"robot":[68],"that":[69,99],"allows":[70],"multimodal":[72],"tracking.":[77],"Stability":[78],"analysis":[79],"was":[80],"performed":[81],"on":[82],"closed-loop":[84],"system":[85,90],"comprising":[86],"RL":[93],"policy.":[94],"Additionally,":[95],"simulation":[96],"results":[97],"demonstrate":[98],"RL-based":[101],"controller":[102],"can":[103],"successfully":[104],"learn":[105],"wing":[107],"patterns,":[109],"achieve":[110],"stable":[111],"flight,":[112],"switch":[113],"between":[114],"modes":[116],"spontaneously,":[117],"track":[119],"different":[120],"trajectories":[121],"under":[122],"various":[123],"aerodynamic":[124],"conditions.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-17T09:09:15.849793","created_date":"2025-10-10T00:00:00"}
