{"id":"https://openalex.org/W1846830349","doi":"https://doi.org/10.23919/ecc.2013.6669253","title":"Time-optimal quadrotor flight","display_name":"Time-optimal quadrotor flight","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W1846830349","doi":"https://doi.org/10.23919/ecc.2013.6669253","mag":"1846830349"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2013.6669253","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lirias.kuleuven.be/handle/123456789/361395","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038994249","display_name":"Wannes Van Loock","orcid":null},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Wannes Van Loock","raw_affiliation_strings":["Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium","Dept. of Mech. Eng., KU Leuven, Leuven, , Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Dept. of Mech. Eng., KU Leuven, Leuven, , Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061080337","display_name":"Goele Pipeleers","orcid":"https://orcid.org/0000-0003-1849-809X"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Goele Pipeleers","raw_affiliation_strings":["Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium","Dept. of Mech. Eng., KU Leuven, Leuven, , Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Dept. of Mech. Eng., KU Leuven, Leuven, , Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021674650","display_name":"Jan Swevers","orcid":"https://orcid.org/0000-0003-2034-5519"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Jan Swevers","raw_affiliation_strings":["Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium","Dept. of Mech. Eng., KU Leuven, Leuven, , Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Dept. of Mech. Eng., KU Leuven, Leuven, , Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5038994249"],"corresponding_institution_ids":["https://openalex.org/I99464096"],"apc_list":null,"apc_paid":null,"fwci":1.9356,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.87347461,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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/T12158","display_name":"Guidance and Control Systems","score":0.9983999729156494,"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":0.9965999722480774,"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/path","display_name":"Path (computing)","score":0.7544234395027161},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6810319423675537},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5487160086631775},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.53434818983078},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4782751500606537},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.45849645137786865},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.45720890164375305},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.45020192861557007},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4448848366737366},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4210388958454132},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32548391819000244},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2414396107196808},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21925589442253113},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11836898326873779},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08399045467376709}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.7544234395027161},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6810319423675537},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5487160086631775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.53434818983078},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4782751500606537},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.45849645137786865},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.45720890164375305},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.45020192861557007},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4448848366737366},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4210388958454132},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32548391819000244},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2414396107196808},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21925589442253113},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11836898326873779},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08399045467376709},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc.2013.6669253","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2013.6669253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/361395","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/361395","pdf_url":null,"source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"European Control Conference, Zurich, 17-19 July 2013","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/361395","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/361395","pdf_url":null,"source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"European Control Conference, Zurich, 17-19 July 2013","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7799999713897705,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1717366851","https://openalex.org/W1970412155","https://openalex.org/W1977927038","https://openalex.org/W1990090788","https://openalex.org/W2011097576","https://openalex.org/W2065297540","https://openalex.org/W2099454002","https://openalex.org/W2105080564","https://openalex.org/W2115091574","https://openalex.org/W2116819668","https://openalex.org/W2123871098","https://openalex.org/W2162991084"],"related_works":["https://openalex.org/W3211557223","https://openalex.org/W2007036916","https://openalex.org/W2120266540","https://openalex.org/W4206528302","https://openalex.org/W872563264","https://openalex.org/W2164087676","https://openalex.org/W4240867999","https://openalex.org/W2416728927","https://openalex.org/W108604697","https://openalex.org/W2047206873"],"abstract_inverted_index":{"Solving":[0],"the":[1,38,98,101,108,136,138,148],"time-optimal":[2],"path":[3,45,52,58,84,109],"planning":[4,46],"problem,":[5],"where":[6,48,61],"a":[7,43,49,56,78,88,113,124,140],"system":[8,62,102],"is":[9,40,53,85,121,144],"brought":[10],"from":[11],"an":[12,28],"initial":[13],"to":[14,112,146],"terminal":[15],"state":[16],"in":[17],"minimal":[18],"time":[19],"while":[20],"obeying":[21],"geometric":[22,51,83],"and":[23,55,97],"dynamic":[24],"constraints,":[25],"has":[26],"been":[27],"active":[29],"area":[30],"of":[31,91,100],"research":[32],"for":[33,73],"many":[34],"years.":[35],"Very":[36],"often":[37],"problem":[39,120,129],"divided":[41],"into":[42,66,77,123],"high-level":[44],"stage":[47,60],"feasible":[50,95],"determined":[54],"low-level":[57],"following":[59],"dynamics":[63,99],"are":[64],"taken":[65],"account.":[67],"This":[68],"paper":[69],"combines":[70],"both":[71],"approaches":[72],"differentially":[74],"flat":[75],"systems":[76],"single":[79,114],"optimization":[80,119],"problem.":[81],"The":[82,117],"represented":[86],"as":[87],"convex":[89],"combination":[90],"two":[92],"or":[93],"more":[94],"paths":[96],"can":[103,131],"subsequently":[104],"be":[105,132],"projected":[106],"onto":[107],"which":[110],"leads":[111],"input":[115],"system.":[116],"resulting":[118],"transformed":[122],"fixed":[125],"end-time":[126],"optimal":[127],"control":[128],"that":[130],"initialized":[133],"easily.":[134],"Throughout":[135],"paper,":[137],"quadrotor,":[139],"challenging":[141],"non-linear":[142],"system,":[143],"used":[145],"illustrate":[147],"proposed":[149],"approach.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}