{"id":"https://openalex.org/W3046318446","doi":"https://doi.org/10.23919/ecc51009.2020.9143803","title":"External Force Estimation based on Nonlinear Moving Horizon Estimation for MAV Navigation","display_name":"External Force Estimation based on Nonlinear Moving Horizon Estimation for MAV Navigation","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3046318446","doi":"https://doi.org/10.23919/ecc51009.2020.9143803","mag":"3046318446"},"language":"en","primary_location":{"id":"doi:10.23919/ecc51009.2020.9143803","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc51009.2020.9143803","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 European Control Conference (ECC)","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/A5023682583","display_name":"Sina Sharif Mansouri","orcid":"https://orcid.org/0000-0001-7631-002X"},"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":"Sina Sharif Mansouri","raw_affiliation_strings":["Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067734161","display_name":"Hedyeh Jafari","orcid":"https://orcid.org/0000-0001-6605-1204"},"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":"Hedyeh Jafari","raw_affiliation_strings":["Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"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":["Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Computer, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5023682583"],"corresponding_institution_ids":["https://openalex.org/I190632392"],"apc_list":null,"apc_paid":null,"fwci":0.1471,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.44242791,"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":"1312","last_page":"1317"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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":0.9993000030517578,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9952999949455261,"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":0.9944999814033508,"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/control-theory","display_name":"Control theory (sociology)","score":0.7646138072013855},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6083011627197266},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.5885810852050781},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5713306069374084},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5504110455513},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5498952865600586},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.534121572971344},{"id":"https://openalex.org/keywords/aerodynamic-force","display_name":"Aerodynamic force","score":0.520038366317749},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5163156390190125},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.44368964433670044},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3110468089580536},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1944183111190796},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.16635525226593018},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13826951384544373},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11263525485992432}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7646138072013855},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6083011627197266},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.5885810852050781},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5713306069374084},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5504110455513},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5498952865600586},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.534121572971344},{"id":"https://openalex.org/C132557482","wikidata":"https://www.wikidata.org/wiki/Q3299483","display_name":"Aerodynamic force","level":3,"score":0.520038366317749},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5163156390190125},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.44368964433670044},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3110468089580536},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1944183111190796},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.16635525226593018},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13826951384544373},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11263525485992432},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc51009.2020.9143803","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc51009.2020.9143803","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.47999998927116394,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1516996557","https://openalex.org/W1580779066","https://openalex.org/W1591662985","https://openalex.org/W2021545103","https://openalex.org/W2038051530","https://openalex.org/W2041748650","https://openalex.org/W2046596783","https://openalex.org/W2064217481","https://openalex.org/W2129276668","https://openalex.org/W2134577927","https://openalex.org/W2143558629","https://openalex.org/W2152982646","https://openalex.org/W2213102374","https://openalex.org/W2509616029","https://openalex.org/W2618092744","https://openalex.org/W2620598199","https://openalex.org/W2623064439","https://openalex.org/W2743585292","https://openalex.org/W2766543450","https://openalex.org/W2789773866","https://openalex.org/W2790310824","https://openalex.org/W2810169700","https://openalex.org/W2842089854","https://openalex.org/W2891086419","https://openalex.org/W2903902823","https://openalex.org/W2912111367","https://openalex.org/W2950312551","https://openalex.org/W2994627688","https://openalex.org/W3006295588"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2966028239","https://openalex.org/W2526240748","https://openalex.org/W2909947097","https://openalex.org/W2264340699","https://openalex.org/W4280578515","https://openalex.org/W1988301227","https://openalex.org/W3090426981","https://openalex.org/W1973891002"],"abstract_inverted_index":{"Deployment":[0],"of":[1,77,122,134,162,176],"the":[2,26,41,49,63,68,78,116,120,123,143,173,177],"Micro":[3],"Aerial":[4],"Vehicle":[5],"(MAV)":[6],"in":[7,151,160],"real-life":[8],"applications":[9],"poses":[10],"multiple":[11],"challenges,":[12],"specially":[13],"when":[14],"there":[15],"are":[16],"external":[17,42,53,126,167,180],"forces":[18,43],"such":[19,128],"as":[20,129],"wind":[21,130],"gust":[22],"or":[23,51,74],"interaction":[24],"to":[25,48,70,104,118,172],"environment.":[27],"Thus,":[28],"this":[29],"article":[30],"proposes":[31],"a":[32,96,132,152],"novel":[33],"Nonlinear":[34],"Moving":[35],"Horizon":[36],"Estimation":[37],"(NMHE)":[38],"for":[39,55,90,142],"estimating":[40],"without":[44],"adding":[45],"extra":[46],"sensor":[47,54],"MAV":[50,144],"using":[52,85],"force":[56,181],"measurements.":[57],"The":[58,80,113,146],"proposed":[59,147],"method":[60,89,148],"uses":[61],"only":[62,109],"dynamic":[64],"model,":[65],"while":[66,169],"avoiding":[67],"need":[69],"know":[71],"aerodynamic":[72],"models":[73],"other":[75],"parameters":[76],"MAV.":[79],"NMHE":[81],"problem":[82],"is":[83,95,149],"solved":[84],"Proximal":[86],"Averaged":[87],"Newton-type":[88],"Optimal":[91],"Control":[92],"(PANOC),":[93],"which":[94,137],"fast":[97,174],"numerical":[98],"optimization,":[99],"completely":[100],"matrix-free,":[101],"not":[102],"sensitive":[103],"ill":[105],"conditioning,":[106],"and":[107,125,165,179],"involves":[108],"simple":[110],"algebraic":[111],"operations.":[112],"solver":[114],"has":[115],"ability":[117],"provide":[119],"estimation":[121],"states":[124],"forces,":[127,168],"at":[131],"rate":[133],"5":[135],"ms,":[136],"can":[138],"be":[139],"used":[140],"online":[141],"controller.":[145],"evaluated":[150],"closed":[153],"loop":[154],"simulation":[155],"environment":[156],"with":[157],"position":[158],"controller":[159],"present":[161],"measurement":[163],"noise":[164],"varying":[166],"it":[170],"results":[171],"convergent":[175],"state":[178],"estimations.":[182]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
