{"id":"https://openalex.org/W7163340785","doi":"https://doi.org/10.48550/arxiv.2606.02658","title":"Fixed-Time Dynamic Landing of Quadrotors using Adaptive Unscented Kalman Filtering and Nonlinear Model Predictive Control","display_name":"Fixed-Time Dynamic Landing of Quadrotors using Adaptive Unscented Kalman Filtering and Nonlinear Model Predictive Control","publication_year":2026,"publication_date":"2026-06-01","ids":{"openalex":"https://openalex.org/W7163340785","doi":"https://doi.org/10.48550/arxiv.2606.02658"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.02658","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.02658","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":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.2606.02658","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010099105","display_name":"Mohammadreza Izadi","orcid":"https://orcid.org/0000-0002-6180-1608"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Izadi, Mohammadreza","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091382977","display_name":"Zeinab Shayan","orcid":"https://orcid.org/0000-0002-8291-2892"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shayan, Zeinab","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125233367","display_name":"Steven Waslander","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Waslander, Steven","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136181464","display_name":"Reza Faieghi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Faieghi, Reza","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/T12125","display_name":"Aerospace and Aviation Technology","score":0.6829000115394592,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.6829000115394592,"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":0.10520000010728836,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.06279999762773514,"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/control-theory","display_name":"Control theory (sociology)","score":0.7172999978065491},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6604999899864197},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6273000240325928},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5503000020980835},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5030999779701233},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.49880000948905945},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.47999998927116394},{"id":"https://openalex.org/keywords/touchdown","display_name":"Touchdown","score":0.42160001397132874},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4174000024795532}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7172999978065491},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6604999899864197},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6273000240325928},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6098999977111816},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5503000020980835},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5030999779701233},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.49880000948905945},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.47999998927116394},{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.42160001397132874},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4174000024795532},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.40860000252723694},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.40560001134872437},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3797000050544739},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.34769999980926514},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.3325999975204468},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31439998745918274},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.31310001015663147},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.3066999912261963},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2980000078678131},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.29030001163482666},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.28870001435279846},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.28130000829696655},{"id":"https://openalex.org/C112633086","wikidata":"https://www.wikidata.org/wiki/Q381287","display_name":"White noise","level":2,"score":0.2761000096797943},{"id":"https://openalex.org/C150189527","wikidata":"https://www.wikidata.org/wiki/Q356674","display_name":"Reference model","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.2678000032901764},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25529998540878296}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.02658","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.02658","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":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.2606.02658","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.02658","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":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],"introduces":[2],"an":[3,58],"estimation":[4],"and":[5,67,87,101,104,112],"control":[6,26],"framework":[7,96],"for":[8],"dynamic":[9],"landing":[10],"of":[11,52],"multi-rotor":[12],"uncrewed":[13],"aerial":[14],"vehicles":[15],"on":[16],"moving":[17],"platforms.":[18],"The":[19,94],"proposed":[20,95],"method":[21],"integrates":[22],"nonlinear":[23],"model":[24],"predictive":[25],"with":[27],"a":[28,35,76],"real-time":[29],"minimum-jerk":[30,82],"trajectory":[31],"planner":[32],"that":[33,63,81],"enforces":[34],"prescribed":[36],"touchdown":[37],"time,":[38],"enabling":[39],"consistent":[40],"timing":[41],"during":[42],"the":[43,50,65],"terminal":[44],"descent.":[45],"To":[46],"enhance":[47],"robustness":[48],"in":[49,99],"presence":[51],"time-varying":[53],"sensing":[54],"quality,":[55],"we":[56,74],"utilize":[57],"adaptive":[59],"unscented":[60],"kalman":[61],"filter":[62],"updates":[64],"process":[66],"measurement":[68],"noise":[69],"statistics":[70],"online.":[71],"In":[72],"addition,":[73],"provide":[75],"reference":[77],"feasibility":[78],"analysis":[79],"showing":[80],"references":[83],"induce":[84],"bounded":[85],"thrust":[86],"torque":[88],"commands":[89],"under":[90],"standard":[91],"tracking":[92],"hypotheses.":[93],"is":[97,106],"evaluated":[98],"simulation":[100],"hardware":[102],"experiments,":[103],"it":[105],"shown":[107],"to":[108,119],"achieve":[109],"repeatable":[110],"landings":[111],"improved":[113],"platform":[114],"velocity":[115],"prediction":[116],"accuracy":[117],"relative":[118],"EKF/UKF-based":[120],"methods.":[121]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-04T00:00:00"}
