{"id":"https://openalex.org/W7160265221","doi":"https://doi.org/10.48550/arxiv.2605.02370","title":"Robust Adaptive Predictive Control for Hook-Based Aerial Transportation Between Moving Platforms","display_name":"Robust Adaptive Predictive Control for Hook-Based Aerial Transportation Between Moving Platforms","publication_year":2026,"publication_date":"2026-05-04","ids":{"openalex":"https://openalex.org/W7160265221","doi":"https://doi.org/10.48550/arxiv.2605.02370"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.02370","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02370","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.02370","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017221120","display_name":"P\u00e9ter Antal","orcid":"https://orcid.org/0000-0002-3911-246X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Antal, P\u00e9ter","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038512513","display_name":"Andrea Carron","orcid":"https://orcid.org/0000-0002-3219-4132"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Carron, Andrea","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133632369","display_name":"Melanie Zeilinger","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeilinger, Melanie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135289993","display_name":"Roland T\u00f3th","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"T\u00f3th, Roland","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5022349342","display_name":"Tam\u00e1s P\u00e9ni","orcid":"https://orcid.org/0000-0002-1440-4263"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"P\u00e9ni, Tam\u00e1s","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.2655999958515167,"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":0.2655999958515167,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.2215999960899353,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.19370000064373016,"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/model-predictive-control","display_name":"Model predictive control","score":0.8432999849319458},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.703000009059906},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5594000220298767},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5536999702453613},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.48420000076293945},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.46540001034736633},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.37389999628067017},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.3720000088214874},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.3700000047683716}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8432999849319458},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.703000009059906},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5594000220298767},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5536999702453613},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5188999772071838},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.48420000076293945},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4787999987602234},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.46540001034736633},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4255000054836273},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.37389999628067017},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.3720000088214874},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3700000047683716},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3449999988079071},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3287999927997589},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.32019999623298645},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3122999966144562},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.3043999969959259},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.29170000553131104},{"id":"https://openalex.org/C2777851325","wikidata":"https://www.wikidata.org/wiki/Q7094102","display_name":"Online model","level":2,"score":0.28790000081062317},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2858999967575073},{"id":"https://openalex.org/C2779714256","wikidata":"https://www.wikidata.org/wiki/Q25305062","display_name":"Multiple Models","level":2,"score":0.275299996137619},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.274399995803833},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.2603999972343445},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25850000977516174}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.02370","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02370","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.02370","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02370","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"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":{"This":[0],"paper":[1],"presents":[2],"a":[3,17,31,40,71],"novel":[4],"model":[5,34,53,63],"predictive":[6,52,62],"control":[7],"(MPC)":[8],"approach":[9,75],"for":[10,22,54,95],"autonomous":[11],"pick-and-place":[12],"between":[13],"moving":[14],"platforms":[15],"with":[16,39],"hook-equipped":[18],"aerial":[19],"manipulator.":[20],"First,":[21],"accurate":[23],"and":[24,48,68,89,107,122],"rapid":[25],"modeling":[26],"of":[27,35,60,81,112],"the":[28,36,51,55,61,98,113],"complex":[29,119],"dynamics,":[30],"digital":[32],"twin":[33],"quadcopter":[37],"equipped":[38],"hook-based":[41],"gripper,":[42],"implemented":[43],"in":[44,118,123],"MuJoCo,":[45],"is":[46,76,116],"constructed":[47],"used":[49],"as":[50],"MPC.":[56],"To":[57],"handle":[58],"uncertainties":[59],"(e.g.":[64],"due":[65],"to":[66],"aerodynamics":[67],"uncertain":[69],"payloads),":[70],"robust":[72,83,102],"adaptive":[73],"MPC":[74,99],"proposed.":[77],"By":[78],"systematic":[79],"integration":[80],"zero-order":[82],"optimization":[84],"(zoRO)":[85],"based":[86],"uncertainty":[87],"propagation":[88],"an":[90],"extended":[91],"Kalman":[92],"filter":[93],"(EKF)":[94],"parameter":[96],"estimation,":[97],"algorithm":[100],"ensures":[101],"constraint":[103],"satisfaction,":[104],"high":[105],"performance,":[106],"computational":[108],"efficiency.":[109],"The":[110],"effectiveness":[111],"proposed":[114],"method":[115],"evaluated":[117],"simulated":[120],"scenarios":[121],"real-world":[124],"flight":[125],"experiments.":[126]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-06T00:00:00"}