{"id":"https://openalex.org/W3119013423","doi":"https://doi.org/10.23919/ecc54610.2021.9655205","title":"Geometry Aware NMPC Scheme for Morphing Quadrotor Navigation in Restricted Entrances","display_name":"Geometry Aware NMPC Scheme for Morphing Quadrotor Navigation in Restricted Entrances","publication_year":2021,"publication_date":"2021-06-29","ids":{"openalex":"https://openalex.org/W3119013423","doi":"https://doi.org/10.23919/ecc54610.2021.9655205","mag":"3119013423"},"language":"en","primary_location":{"id":"doi:10.23919/ecc54610.2021.9655205","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc54610.2021.9655205","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/7503180","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063588127","display_name":"Andreas Papadimitriou","orcid":"https://orcid.org/0000-0002-6415-6982"},"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":"Andreas Papadimitriou","raw_affiliation_strings":["Robotics & AI Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & AI Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","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":false,"raw_author_name":"Sina Sharif Mansouri","raw_affiliation_strings":["Robotics & AI Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & AI Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039277979","display_name":"Christoforos Kanellakis","orcid":"https://orcid.org/0000-0001-8870-6718"},"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":"Christoforos Kanellakis","raw_affiliation_strings":["Robotics & AI Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & AI Team, 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":["Robotics & AI Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & AI Team, Lule\u00e5 University of Technology, Lule\u00e5, Sweden","institution_ids":["https://openalex.org/I190632392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5063588127"],"corresponding_institution_ids":["https://openalex.org/I190632392"],"apc_list":null,"apc_paid":null,"fwci":0.6565,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.79770774,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1597","last_page":"1603"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991000294685364,"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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","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"}}],"keywords":[{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.9658388495445251},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6346110105514526},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5629164576530457},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5201833248138428},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.48906025290489197},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.47129619121551514},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4392321705818176},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4381554424762726},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4214869439601898},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3470057547092438},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.287598192691803},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2522358000278473},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2341611385345459},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19309744238853455},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10252666473388672},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08277317881584167}],"concepts":[{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.9658388495445251},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6346110105514526},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5629164576530457},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5201833248138428},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.48906025290489197},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.47129619121551514},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4392321705818176},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4381554424762726},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4214869439601898},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3470057547092438},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.287598192691803},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2522358000278473},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2341611385345459},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19309744238853455},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10252666473388672},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08277317881584167},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc54610.2021.9655205","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc54610.2021.9655205","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:zenodo.org:7503180","is_oa":true,"landing_page_url":"https://zenodo.org/record/7503180","pdf_url":"https://zenodo.org/record/7503180","source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:7503180","is_oa":true,"landing_page_url":"https://zenodo.org/record/7503180","pdf_url":"https://zenodo.org/record/7503180","source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3119013423.pdf","grobid_xml":"https://content.openalex.org/works/W3119013423.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W2565939207","https://openalex.org/W2773595354","https://openalex.org/W2783007554","https://openalex.org/W2786318586","https://openalex.org/W2789773866","https://openalex.org/W2806599356","https://openalex.org/W2810169700","https://openalex.org/W2905560833","https://openalex.org/W2950312551","https://openalex.org/W2964206852","https://openalex.org/W2967105464","https://openalex.org/W2968479790","https://openalex.org/W2968917438","https://openalex.org/W2971262241","https://openalex.org/W3006295588","https://openalex.org/W3009439487","https://openalex.org/W3019102745","https://openalex.org/W3046596703","https://openalex.org/W3071438358","https://openalex.org/W3082769943","https://openalex.org/W3098438097","https://openalex.org/W3105003810","https://openalex.org/W3108548751","https://openalex.org/W3133442497","https://openalex.org/W3205839708","https://openalex.org/W6752901381","https://openalex.org/W6774039234"],"related_works":["https://openalex.org/W1679315481","https://openalex.org/W3151495635","https://openalex.org/W4236870338","https://openalex.org/W2016917053","https://openalex.org/W51472912","https://openalex.org/W4361020386","https://openalex.org/W4362722828","https://openalex.org/W2375652671","https://openalex.org/W4205835231","https://openalex.org/W2370788183"],"abstract_inverted_index":{"Geometry-morphing":[0],"Micro":[1],"Aerial":[2],"Vehicles":[3],"(MAVs)":[4],"are":[5],"gaining":[6],"more":[7],"attention":[8],"lately,":[9],"since,":[10],"their":[11,15,20,24],"ability":[12],"to":[13,68,123,132,160],"modify":[14],"geometric":[16],"morphology":[17,65,92],"in-flight":[18],"increases":[19],"versatility":[21],"while":[22,136],"expanding":[23],"application":[25],"range.":[26],"In":[27,76],"this":[28,77],"novel":[29,82],"research":[30],"field,":[31],"most":[32],"of":[33,56,63,73,93,120,149],"the":[34,38,43,61,69,74,91,98,113,117,121,129,133,139,145,150,156],"works":[35],"focus":[36],"on":[37,42,97],"platform":[39],"design":[40],"and":[41,71,115,147],"low-level":[44],"control":[45],"for":[46],"maintaining":[47],"stability":[48],"after":[49],"changing":[50],"its":[51,64],"shape.":[52,102],"Nevertheless,":[53],"another":[54],"aspect":[55],"geometry":[57],"morphing":[58],"MAVs":[59],"is":[60,158],"association":[62],"with":[66],"respect":[67],"shape":[70],"structure":[72,88],"environment.":[75],"article,":[78],"we":[79],"propose":[80],"a":[81,94,110,125],"Nonlinear":[83],"Model":[84],"Predictive":[85],"Control":[86],"(NMPC)":[87],"that":[89],"modifies":[90,116],"quadrotor":[95,157],"based":[96],"environment":[99],"entrances\u2019":[100],"geometrical":[101],"The":[103],"proposed":[104,151],"method":[105],"considers":[106],"restricted":[107],"entrances":[108],"as":[109],"constraint":[111],"in":[112,153],"NMPC":[114],"arm":[118],"configuration":[119],"MAV":[122],"provide":[124],"collision-free":[126],"path":[127],"from":[128],"initial":[130],"position":[131],"desired":[134],"goal":[135],"passing":[137],"through":[138,162],"entrance.":[140],"Multiple":[141],"simulation":[142],"results":[143],"present":[144],"performance":[146],"efficiency":[148],"scheme":[152],"scenarios":[154],"where":[155],"commanded":[159],"pass":[161],"narrow":[163],"entrances.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
