{"id":"https://openalex.org/W7151759891","doi":"https://doi.org/10.48550/arxiv.2604.05998","title":"Force Polytope-Based Cant-Angle Selection for Tilting Hexarotor UAVs","display_name":"Force Polytope-Based Cant-Angle Selection for Tilting Hexarotor UAVs","publication_year":2026,"publication_date":"2026-04-07","ids":{"openalex":"https://openalex.org/W7151759891","doi":"https://doi.org/10.48550/arxiv.2604.05998"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.05998","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.05998","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.05998","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5117711073","display_name":"Alberto Piccina","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Piccina, Alberto","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034547323","display_name":"Massimiliano Bertoni","orcid":"https://orcid.org/0000-0001-5140-3254"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bertoni, Massimiliano","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133181845","display_name":"Angelo Cenedese","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cenedese, Angelo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5089018207","display_name":"Giulia Michieletto","orcid":"https://orcid.org/0000-0002-1357-8077"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michieletto, Giulia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.4837999939918518,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.4837999939918518,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.11640000343322754,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.07559999823570251,"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/key","display_name":"Key (lock)","score":0.5759000182151794},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.5680999755859375},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5595999956130981},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5432000160217285},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.508899986743927},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.501800000667572},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4271000027656555},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.4108000099658966},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.37529999017715454}],"concepts":[{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5759000182151794},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.5680999755859375},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5595999956130981},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5432000160217285},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.508899986743927},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.501800000667572},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4781000018119812},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4271000027656555},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.4108000099658966},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4081000089645386},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.37529999017715454},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3677999973297119},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.36390000581741333},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3490000069141388},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3434999883174896},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33379998803138733},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.32829999923706055},{"id":"https://openalex.org/C62644790","wikidata":"https://www.wikidata.org/wiki/Q3454689","display_name":"Variance reduction","level":3,"score":0.3160000145435333},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.31459999084472656},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3102000057697296},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.29829999804496765},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.28870001435279846},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2842000126838684},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2840000092983246},{"id":"https://openalex.org/C526921623","wikidata":"https://www.wikidata.org/wiki/Q190117","display_name":"Automotive industry","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.25949999690055847}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.05998","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.05998","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.05998","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.05998","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"From":[0],"a":[1,23,54,84,103,118,124,144],"maneuverability":[2],"perspective,":[3],"the":[4,13,17,90,153,156],"main":[5],"advantage":[6],"of":[7,16,74,143,155],"tilting":[8],"multirotor":[9],"UAVs":[10,63],"lies":[11],"in":[12,113,127,149,159],"dynamic":[14],"variability":[15],"feasible":[18,80],"executable":[19],"wrench,":[20],"which":[21],"represents":[22],"key":[24],"asset":[25],"for":[26,58,83],"physical":[27],"interaction":[28,65],"tasks.":[29,66],"Accordingly,":[30],"cant-angle":[31],"selection":[32],"should":[33],"be":[34],"optimized":[35],"to":[36,78],"ensure":[37],"high":[38],"performance":[39,134],"while":[40],"avoiding":[41],"abrupt":[42],"variations":[43],"and":[44,88,96,107,115,135],"preserving":[45],"real-world":[46],"feasibility.":[47],"In":[48],"this":[49,51],"context,":[50],"work":[52],"proposes":[53],"lightweight":[55],"control":[56,86],"framework":[57,99],"star-shaped":[59],"interdependent":[60],"cant-tilting":[61],"hexarotor":[62],"performing":[64],"The":[67,98,121],"method":[68],"uses":[69],"an":[70],"offline-computed":[71],"look-up":[72],"table":[73],"zero-moment":[75],"force":[76,87],"polytopes":[77],"identify":[79],"cant":[81],"angles":[82],"desired":[85],"select":[89],"optimal":[91],"one":[92],"by":[93],"balancing":[94],"efficiency":[95],"smoothness.":[97],"is":[100],"integrated":[101],"with":[102,131],"geometric":[104],"full-pose":[105],"controller":[106],"validated":[108],"through":[109],"Monte":[110],"Carlo":[111],"simulations":[112],"MATLAB/Simulink":[114],"compared":[116],"against":[117],"baseline":[119],"strategy.":[120],"results":[122],"show":[123],"significant":[125],"reduction":[126],"computation":[128],"time,":[129],"together":[130],"improved":[132],"pose-tracking":[133],"competitive":[136],"actuation":[137],"efficiency.":[138],"A":[139],"final":[140],"physics-based":[141],"simulation":[142],"complete":[145],"wall":[146],"inspection":[147],"task":[148],"Simscape":[150],"further":[151],"confirms":[152],"feasibility":[154],"proposed":[157],"strategy":[158],"interacting":[160],"scenarios.":[161]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-09T00:00:00"}
