{"id":"https://openalex.org/W7160592746","doi":"https://doi.org/10.48550/arxiv.2605.06042","title":"Accurate Trajectory Tracking with MPCC for Flapping-Wing MAVs","display_name":"Accurate Trajectory Tracking with MPCC for Flapping-Wing MAVs","publication_year":2026,"publication_date":"2026-05-07","ids":{"openalex":"https://openalex.org/W7160592746","doi":"https://doi.org/10.48550/arxiv.2605.06042"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.06042","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.06042","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2605.06042","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074387755","display_name":"Charbel Toumieh","orcid":"https://orcid.org/0000-0002-2669-6777"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Toumieh, Charbel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135655486","display_name":"Jack Zeng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeng, Jack","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135685804","display_name":"Niel Mistry","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mistry, Niel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135683849","display_name":"Dario Floreano","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Floreano, Dario","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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9945999979972839,"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"}},"topics":[{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9945999979972839,"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.0012000000569969416,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12125","display_name":"Aerospace and Aviation Technology","score":0.000699999975040555,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8108000159263611},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7943999767303467},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.691100001335144},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5990999937057495},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.5527999997138977},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.41850000619888306},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4023999869823456},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35659998655319214},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.3321000039577484}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8108000159263611},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7943999767303467},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.691100001335144},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5990999937057495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5561000108718872},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.5527999997138977},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.41850000619888306},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4023999869823456},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36809998750686646},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35659998655319214},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.3321000039577484},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.32510000467300415},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.3084999918937683},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.30790001153945923},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.3001999855041504},{"id":"https://openalex.org/C2779104521","wikidata":"https://www.wikidata.org/wiki/Q23058469","display_name":"Contouring","level":2,"score":0.2985999882221222},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.28780001401901245},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28690001368522644},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.28630000352859497},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.2849999964237213},{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.26910001039505005},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.26170000433921814},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.25760000944137573},{"id":"https://openalex.org/C150189527","wikidata":"https://www.wikidata.org/wiki/Q356674","display_name":"Reference model","level":2,"score":0.2556000053882599}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.06042","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.06042","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.06042","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.06042","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":{"Flapping-wing":[0],"micro":[1],"aerial":[2],"vehicles":[3],"offer":[4],"quieter":[5],"and":[6,24,30,44,150,154,165],"safer":[7],"operation":[8],"than":[9],"rotary-wing":[10],"drones,":[11],"yet":[12],"achieving":[13],"precise":[14],"autonomous":[15],"control":[16,36,183],"of":[17,115,132],"bird-scale":[18,133],"ornithopters":[19],"remains":[20],"challenging:":[21],"lift,":[22],"airspeed,":[23],"turning":[25],"authority":[26],"are":[27],"tightly":[28],"coupled":[29,70,108],"governed":[31],"by":[32],"only":[33],"a":[34,78,102,122,156],"few":[35],"inputs.":[37],"Conventional":[38],"cascaded":[39],"controllers":[40],"treat":[41],"altitude,":[42],"speed,":[43],"heading":[45],"independently,":[46],"producing":[47],"persistent":[48],"tracking":[49,57],"errors":[50],"during":[51],"complex":[52],"maneuvers,":[53],"while":[54,89],"time-parameterized":[55],"trajectory":[56,162],"requires":[58,101],"predefined":[59,97],"speed":[60],"profiles":[61],"that":[62,85,105,127],"existing":[63],"methods":[64],"cannot":[65],"robustly":[66],"produce":[67],"for":[68,96],"these":[69],"dynamics.":[71],"We":[72,139],"address":[73],"both":[74],"limitations":[75],"simultaneously":[76],"with":[77,143],"Model":[79],"Predictive":[80],"Contouring":[81],"Control":[82],"(MPCC)":[83],"approach":[84],"tracks":[86],"arc-length-parameterized":[87],"trajectories":[88,153],"optimizing":[90],"progress":[91],"online,":[92],"eliminating":[93],"the":[94,107,112,129,141,144,160],"need":[95],"timing.":[98],"However,":[99],"MPCC":[100],"dynamical":[103],"model":[104,126],"captures":[106,128],"aerodynamics":[109],"without":[110],"exceeding":[111],"computational":[113],"budget":[114],"real-time":[116,136],"nonlinear":[117],"optimization.":[118],"Here,":[119],"we":[120],"propose":[121],"compact,":[123],"continuously":[124],"differentiable":[125],"dominant":[130],"couplings":[131],"ornithopters,":[134],"enabling":[135],"predictive":[137],"control.":[138],"validated":[140],"method":[142],"XFly":[145],"ornithopter":[146,182],"flying":[147],"along":[148],"circular":[149],"three-dimensional":[151],"racing":[152],"achieved":[155],"mean":[157],"deviation":[158],"from":[159],"reference":[161],"between":[163],"6.5":[164],"9":[166],"cm":[167],"at":[168],"speeds":[169],"up":[170],"to":[171],"3":[172],"m/s,":[173],"which":[174],"represents":[175],"an":[176],"almost":[177],"10-fold":[178],"improvement":[179],"over":[180],"prior":[181],"methods.":[184]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-09T00:00:00"}
