{"id":"https://openalex.org/W3107452320","doi":"https://doi.org/10.23919/ecc54610.2021.9654841","title":"Model Predictive Control for Micro Aerial Vehicles: A Survey","display_name":"Model Predictive Control for Micro Aerial Vehicles: A Survey","publication_year":2021,"publication_date":"2021-06-29","ids":{"openalex":"https://openalex.org/W3107452320","doi":"https://doi.org/10.23919/ecc54610.2021.9654841","mag":"3107452320"},"language":"en","primary_location":{"id":"doi:10.23919/ecc54610.2021.9654841","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc54610.2021.9654841","pdf_url":null,"source":{"id":"https://openalex.org/S4363608272","display_name":"2021 European Control Conference (ECC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11250/2989294","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050545734","display_name":"Huan Nguyen","orcid":"https://orcid.org/0000-0002-0159-1936"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Huan Nguyen","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7491"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7491","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084290807","display_name":"Mina Kamel","orcid":"https://orcid.org/0000-0002-0764-236X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mina Kamel","raw_affiliation_strings":["Voliro AG,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Voliro AG,Zurich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022659812","display_name":"Kostas Alexis","orcid":"https://orcid.org/0000-0002-9989-298X"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Kostas Alexis","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7491"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU),Autonomous Robots Lab,Trondheim,Norway,7491","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["ETH Zurich,Autonomous Systems Lab,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Autonomous Systems Lab,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1556","last_page":"1563"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.995199978351593,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.986299991607666,"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/multirotor","display_name":"Multirotor","score":0.8674196004867554},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7740796208381653},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6380870342254639},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6329721212387085},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6101198196411133},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.601359486579895},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.44118955731391907},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43880799412727356},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.416643887758255},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.330020010471344},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.297050803899765},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24222612380981445},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.11367383599281311}],"concepts":[{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.8674196004867554},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7740796208381653},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6380870342254639},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6329721212387085},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6101198196411133},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.601359486579895},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.44118955731391907},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43880799412727356},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.416643887758255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.330020010471344},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.297050803899765},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24222612380981445},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.11367383599281311},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc54610.2021.9654841","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc54610.2021.9654841","pdf_url":null,"source":{"id":"https://openalex.org/S4363608272","display_name":"2021 European Control Conference (ECC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:ntnuopen.ntnu.no:11250/2989294","is_oa":true,"landing_page_url":"https://hdl.handle.net/11250/2989294","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"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":"1556-1563","raw_type":"info:eu-repo/semantics/bookPart"}],"best_oa_location":{"id":"pmh:oai:ntnuopen.ntnu.no:11250/2989294","is_oa":true,"landing_page_url":"https://hdl.handle.net/11250/2989294","pdf_url":null,"source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"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":"1556-1563","raw_type":"info:eu-repo/semantics/bookPart"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":92,"referenced_works":["https://openalex.org/W241118364","https://openalex.org/W589128744","https://openalex.org/W1131741954","https://openalex.org/W1436234145","https://openalex.org/W1524886571","https://openalex.org/W1561858273","https://openalex.org/W1576721254","https://openalex.org/W1608758704","https://openalex.org/W1631623342","https://openalex.org/W1919002818","https://openalex.org/W1923344279","https://openalex.org/W1925307928","https://openalex.org/W1973734421","https://openalex.org/W1977164425","https://openalex.org/W1978956894","https://openalex.org/W1995408953","https://openalex.org/W1998534269","https://openalex.org/W2002219970","https://openalex.org/W2023750407","https://openalex.org/W2035734362","https://openalex.org/W2039879435","https://openalex.org/W2050883740","https://openalex.org/W2057233933","https://openalex.org/W2060543224","https://openalex.org/W2062803637","https://openalex.org/W2073787051","https://openalex.org/W2082430444","https://openalex.org/W2093273267","https://openalex.org/W2104969271","https://openalex.org/W2109656638","https://openalex.org/W2117402460","https://openalex.org/W2121863487","https://openalex.org/W2141666765","https://openalex.org/W2152982646","https://openalex.org/W2218328945","https://openalex.org/W2418368699","https://openalex.org/W2465948386","https://openalex.org/W2525640293","https://openalex.org/W2529800952","https://openalex.org/W2536620281","https://openalex.org/W2559336140","https://openalex.org/W2563700852","https://openalex.org/W2564506432","https://openalex.org/W2578009772","https://openalex.org/W2589618410","https://openalex.org/W2618092744","https://openalex.org/W2738812057","https://openalex.org/W2743408048","https://openalex.org/W2749680651","https://openalex.org/W2783824884","https://openalex.org/W2887532679","https://openalex.org/W2889644965","https://openalex.org/W2891058491","https://openalex.org/W2891384194","https://openalex.org/W2901297957","https://openalex.org/W2903902823","https://openalex.org/W2909122662","https://openalex.org/W2914134759","https://openalex.org/W2914614282","https://openalex.org/W2962872206","https://openalex.org/W2963355572","https://openalex.org/W2963689432","https://openalex.org/W2979356185","https://openalex.org/W2980297602","https://openalex.org/W2984307678","https://openalex.org/W2989899221","https://openalex.org/W3003689803","https://openalex.org/W3004517342","https://openalex.org/W3005322855","https://openalex.org/W3006045035","https://openalex.org/W3030804074","https://openalex.org/W3039984786","https://openalex.org/W3091628121","https://openalex.org/W3092793148","https://openalex.org/W3099530328","https://openalex.org/W3102483563","https://openalex.org/W3102923851","https://openalex.org/W3120409696","https://openalex.org/W4214717370","https://openalex.org/W4230352707","https://openalex.org/W4287828546","https://openalex.org/W4292078458","https://openalex.org/W6627092767","https://openalex.org/W6628385168","https://openalex.org/W6640371294","https://openalex.org/W6755864697","https://openalex.org/W6769012245","https://openalex.org/W6769665411","https://openalex.org/W6770592807","https://openalex.org/W6775261052","https://openalex.org/W6778083458","https://openalex.org/W6785839120"],"related_works":["https://openalex.org/W2728521155","https://openalex.org/W2556504211","https://openalex.org/W2810775292","https://openalex.org/W3150660900","https://openalex.org/W2625580943","https://openalex.org/W2914097399","https://openalex.org/W3212684323","https://openalex.org/W3151488434","https://openalex.org/W3155344697","https://openalex.org/W128654086"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,174],"review":[4,155],"of":[5,10,29,50,85,106,112,121,130,138,177],"the":[6,32,38,48,67,97,104,107,110,118,135],"design":[7],"and":[8,19,52,65,91,101,117,144],"application":[9,137],"model":[11,145,168],"predictive":[12,146,169],"control":[13,39,147,170],"strategies":[14],"for":[15,96,148],"Micro":[16,178],"Aerial":[17,179],"Vehicles":[18],"specifically":[20],"multirotor":[21,149],"configurations":[22],"such":[23,75,122],"as":[24,76],"quadrotors.":[25],"The":[26],"diverse":[27],"set":[28,84],"works":[30],"in":[31],"domain":[33],"is":[34,151],"organized":[35],"based":[36],"on":[37,134],"law":[40],"being":[41],"optimized":[42],"over":[43],"linear":[44,100],"or":[45,72,79],"nonlinear":[46,102],"dynamics,":[47],"integration":[49],"state":[51],"input":[53],"constraints,":[54],"possible":[55],"fault-tolerant":[56],"design,":[57],"if":[58,66],"reinforcement":[59,141],"learning":[60,142],"methods":[61,123],"have":[62],"been":[63],"utilized":[64],"controller":[68],"refers":[69],"to":[70,93,124,173],"free-flight":[71],"other":[73],"tasks":[74],"physical":[77],"interaction":[78],"load":[80],"transportation.":[81],"A":[82],"selected":[83,161],"comparison":[86],"results":[87],"are":[88],"also":[89],"presented":[90],"serve":[92],"provide":[94],"insight":[95],"selection":[98],"between":[99],"schemes,":[103],"tuning":[105],"prediction":[108],"horizon,":[109],"importance":[111],"disturbance":[113],"observer-based":[114],"offset-free":[115],"tracking":[116],"intrinsic":[119],"robustness":[120],"parameter":[125],"uncertainty.":[126],"Furthermore,":[127],"an":[128],"overview":[129],"recent":[131],"research":[132],"trends":[133],"combined":[136],"modern":[139],"deep":[140],"techniques":[143],"vehicles":[150],"presented.":[152],"Finally,":[153],"this":[154],"concludes":[156],"with":[157],"explicit":[158],"discussion":[159],"regarding":[160],"open-source":[162],"software":[163],"packages":[164],"that":[165],"deliver":[166],"off-the-shelf":[167],"functionality":[171],"applicable":[172],"wide":[175],"variety":[176],"Vehicle":[180],"configurations.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
