{"id":"https://openalex.org/W2903902823","doi":"https://doi.org/10.23919/ecc.2019.8796236","title":"Aerial navigation in obstructed environments with embedded nonlinear model predictive control","display_name":"Aerial navigation in obstructed environments with embedded nonlinear model predictive control","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2903902823","doi":"https://doi.org/10.23919/ecc.2019.8796236","mag":"2903902823"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2019.8796236","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2019.8796236","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 18th 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/123456789/635981","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021275310","display_name":"Elias Small","orcid":null},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Elias Small","raw_affiliation_strings":["Robotics Team, Lule\u00e5 Technical University, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Robotics Team, Lule\u00e5 Technical University, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051529774","display_name":"Pantelis Sopasakis","orcid":"https://orcid.org/0000-0002-4584-2354"},"institutions":[{"id":"https://openalex.org/I126231945","display_name":"Queen's University Belfast","ror":"https://ror.org/00hswnk62","country_code":"GB","type":"education","lineage":["https://openalex.org/I126231945"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pantelis Sopasakis","raw_affiliation_strings":["Queen's University Belfast, Centre For Intelligent Autonomous Manufacturing Systems (i-AMS)"],"affiliations":[{"raw_affiliation_string":"Queen's University Belfast, Centre For Intelligent Autonomous Manufacturing Systems (i-AMS)","institution_ids":["https://openalex.org/I126231945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049700131","display_name":"Emil Fresk","orcid":null},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Emil Fresk","raw_affiliation_strings":["Robotics Team, Lule\u00e5 Technical University, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Robotics Team, Lule\u00e5 Technical University, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031380765","display_name":"Panagiotis Patrinos","orcid":"https://orcid.org/0000-0003-4824-7697"},"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":"Panagiotis Patrinos","raw_affiliation_strings":["Department of Electrical Engineering (ESAT-STADIUS), KU Leuven, Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering (ESAT-STADIUS), KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064878830","display_name":"George Nikolakopoulos","orcid":"https://orcid.org/0000-0003-0126-1897"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"George Nikolakopoulos","raw_affiliation_strings":["Robotics Team, Lule\u00e5 Technical University, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Robotics Team, Lule\u00e5 Technical University, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5021275310"],"corresponding_institution_ids":["https://openalex.org/I190632392"],"apc_list":null,"apc_paid":null,"fwci":4.2889,"has_fulltext":true,"cited_by_count":64,"citation_normalized_percentile":{"value":0.95429448,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3556","last_page":"3563"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9990000128746033,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/model-predictive-control","display_name":"Model predictive control","score":0.7862427234649658},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7118577361106873},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6306882500648499},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.57488614320755},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4854627251625061},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4744754135608673},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47109612822532654},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4539806544780731},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.42080551385879517},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3451630473136902},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2713250517845154},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26768553256988525},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20225095748901367},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18750318884849548},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14101850986480713},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12016478180885315},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09854629635810852}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7862427234649658},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7118577361106873},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6306882500648499},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.57488614320755},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4854627251625061},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4744754135608673},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47109612822532654},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4539806544780731},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.42080551385879517},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3451630473136902},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2713250517845154},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26768553256988525},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20225095748901367},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18750318884849548},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14101850986480713},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12016478180885315},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09854629635810852},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.23919/ecc.2019.8796236","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2019.8796236","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 18th European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/635981","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/635981","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 (ECC), Naples, Italy, 25-28 June 2019","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.qub.ac.uk/portal:publications/2fe877f4-d063-4c8e-b3f9-b376662fb8a9","is_oa":true,"landing_page_url":"https://pure.qub.ac.uk/en/publications/2fe877f4-d063-4c8e-b3f9-b376662fb8a9","pdf_url":"https://pureadmin.qub.ac.uk/ws/files/168070943/main.pdf","source":{"id":"https://openalex.org/S4306402319","display_name":"Research Portal (Queen's University Belfast)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I126231945","host_organization_name":"Queen's University Belfast","host_organization_lineage":["https://openalex.org/I126231945"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Small, E, Sopasakis, P, Fresk, E, Patrinos, P & Nikolakopoulos, G 2019, Aerial navigation in obstructed environments with embedded nonlinear model predictive control. in European Control Conference 25/06/2018 \u2192 28/06/2019 Naples, Italy. Institute of Electrical and Electronics Engineers Inc., pp. 3556-3563, European Control Conference, Naples, Italy, 25/06/2018. https://doi.org/10.23919/ECC.2019.8796236","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/635981","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/635981","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 (ECC), Naples, Italy, 25-28 June 2019","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W123646622","https://openalex.org/W1966301784","https://openalex.org/W1970276631","https://openalex.org/W2014776084","https://openalex.org/W2033008544","https://openalex.org/W2035981208","https://openalex.org/W2042186399","https://openalex.org/W2046596783","https://openalex.org/W2064217481","https://openalex.org/W2074464158","https://openalex.org/W2165188227","https://openalex.org/W2170316986","https://openalex.org/W2323639427","https://openalex.org/W2467663293","https://openalex.org/W2546505240","https://openalex.org/W2559336140","https://openalex.org/W2569321920","https://openalex.org/W2618092744","https://openalex.org/W2743522256","https://openalex.org/W2758099682","https://openalex.org/W2790310824","https://openalex.org/W2810839607","https://openalex.org/W2842089854","https://openalex.org/W2892746432","https://openalex.org/W2902505661","https://openalex.org/W2950312551","https://openalex.org/W2954197016","https://openalex.org/W2963011664","https://openalex.org/W2963888662","https://openalex.org/W3029645440","https://openalex.org/W4301014524","https://openalex.org/W6751258048","https://openalex.org/W6753455326"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":{"We":[0],"propose":[1,107],"a":[2,48,84,91,108],"methodology":[3,32],"for":[4,71,113],"autonomous":[5],"aerial":[6,13],"navigation":[7],"and":[8,22,68],"obstacle":[9],"avoidance":[10],"of":[11,36,77,86,116,125],"micro":[12],"vehicles":[14],"(MAVs)":[15],"using":[16,46],"non-linear":[17],"model":[18],"predictive":[19],"control":[20],"(NMPC)":[21],"we":[23,106],"demonstrate":[24],"its":[25],"effectiveness":[26],"with":[27],"laboratory":[28],"experiments.":[29],"The":[30,41,94],"proposed":[31],"can":[33],"accommodate":[34],"obstacles":[35],"arbitrary,":[37],"potentially":[38],"non-convex,":[39],"geometry.":[40],"NMPC":[42,81],"problem":[43,82],"is":[44,54,57,69],"solved":[45],"PANOC:":[47],"fast":[49],"numerical":[50],"optimization":[51],"method":[52,110],"which":[53,120],"completely":[55],"matrix-free,":[56],"not":[58],"sensitive":[59],"to":[60,111],"ill":[61],"conditioning,":[62],"involves":[63],"only":[64],"simple":[65,109],"algebraic":[66],"operations":[67],"suitable":[70],"embedded":[72],"NMPC.":[73],"A":[74],"c89":[75],"implementation":[76],"PANOC":[78],"solves":[79],"the":[80,114,123,126,131],"at":[83],"rate":[85],"20":[87],"Hz":[88],"on":[89],"board":[90],"lab-scale":[92],"MAV.":[93],"MAV":[95],"performs":[96],"smooth":[97],"maneuvers":[98],"moving":[99],"around":[100],"an":[101],"obstacle.":[102],"For":[103],"increased":[104],"autonomy,":[105],"compensate":[112],"reduction":[115],"thrust":[117,132],"over":[118],"time,":[119],"comes":[121],"from":[122],"depletion":[124],"MAV's":[127],"battery,":[128],"by":[129],"estimating":[130],"constant.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":3}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}