{"id":"https://openalex.org/W7168252802","doi":"https://doi.org/10.48550/arxiv.2607.11724","title":"High-level spatial Dubins airplane-based reference smoothing with low-level geometric tracking for quadrotor control","display_name":"High-level spatial Dubins airplane-based reference smoothing with low-level geometric tracking for quadrotor control","publication_year":2026,"publication_date":"2026-07-13","ids":{"openalex":"https://openalex.org/W7168252802","doi":"https://doi.org/10.48550/arxiv.2607.11724"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.11724","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.11724","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.2607.11724","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5140684443","display_name":"Mogens Plessen","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Plessen, Mogens","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5140684443"],"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":0.17990000545978546,"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":0.17990000545978546,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.14249999821186066,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.10350000113248825,"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/smoothing","display_name":"Smoothing","score":0.79339998960495},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.7053999900817871},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4657999873161316},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4627000093460083},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4458000063896179},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4059999883174896},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.385699987411499},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.3718000054359436}],"concepts":[{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.79339998960495},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.7053999900817871},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6355000138282776},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4657999873161316},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4627000093460083},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4569999873638153},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4458000063896179},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4090000092983246},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4059999883174896},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.385699987411499},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.3718000054359436},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.3718000054359436},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.3440000116825104},{"id":"https://openalex.org/C150189527","wikidata":"https://www.wikidata.org/wiki/Q356674","display_name":"Reference model","level":2,"score":0.3375000059604645},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.3345000147819519},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3327000141143799},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.27309998869895935},{"id":"https://openalex.org/C70518039","wikidata":"https://www.wikidata.org/wiki/Q16000077","display_name":"Dimensionality reduction","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2565000057220459},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2547999918460846},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.25459998846054077}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.11724","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.11724","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.2607.11724","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.11724","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":[{"id":"https://metadata.un.org/sdg/11","score":0.6838414669036865,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"A":[0],"method":[1,72],"for":[2,32,43,75],"the":[3,28,48,67,76,85,90,105,116],"control":[4],"of":[5,12,50,78,92],"quadrotors":[6],"is":[7,10,64,73,89,98,109,120],"presented.":[8],"It":[9,97],"composed":[11],"a":[13,19,51,59,127],"high-level":[14,25,106,117],"reference":[15,21],"smoothing":[16],"step":[17,26,57,108,119],"and":[18,35,39,47,112],"low-level":[20,56],"tracking":[22,61,77,91],"step.":[23],"The":[24,55,71],"leverages":[27,58],"Dubins":[29],"airplane":[30],"model":[31],"dimensionality":[33],"reduction":[34],"reduced":[36],"computational":[37],"complexity,":[38],"exploits":[40],"its":[41],"structure":[42],"decoupling,":[44],"spatial":[45,129],"modeling":[46],"formulation":[49],"small":[52],"linear":[53],"program.":[54],"geometric":[60],"controller,":[62],"which":[63],"based":[65],"on":[66],"full":[68],"quadrotor":[69],"model.":[70],"designed":[74],"references":[79,93],"subject":[80],"to":[81],"lateral":[82],"constraints":[83],"along":[84,94],"path.":[86],"An":[87],"example":[88],"obstacle":[95],"contours.":[96],"differentiated":[99],"between":[100],"two":[101],"different":[102],"setups.":[103],"Either":[104],"planning":[107,118],"conducted":[110,121],"once":[111],"offline,":[113],"or,":[114],"alternatively,":[115],"recedingly":[122],"online":[123],"in":[124],"closed-loop":[125],"over":[126],"limited":[128],"prediction":[130],"horizon.":[131]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-15T00:00:00"}