{"id":"https://openalex.org/W4403578108","doi":"https://doi.org/10.48550/arxiv.2410.12434","title":"A Control Theoretic Study on Omnidirectional MAVs with Minimum Number of\n Actuators and No Internal Forces at Any Orientation","display_name":"A Control Theoretic Study on Omnidirectional MAVs with Minimum Number of\n Actuators and No Internal Forces at Any Orientation","publication_year":2024,"publication_date":"2024-10-16","ids":{"openalex":"https://openalex.org/W4403578108","doi":"https://doi.org/10.48550/arxiv.2410.12434"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2410.12434","pdf_url":"http://arxiv.org/pdf/2410.12434","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"type":"preprint","type_crossref":"posted-content","indexed_in":["arxiv"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://arxiv.org/pdf/2410.12434","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058099933","display_name":"Ahmed S. Ali","orcid":"https://orcid.org/0000-0003-2047-0053"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ali, Ahmed","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054507574","display_name":"Chiara Gabellieri","orcid":"https://orcid.org/0000-0002-0051-2941"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gabellieri, Chiara","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5001771133","display_name":"Antonio Franchi","orcid":"https://orcid.org/0000-0002-5670-1282"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Franchi, Antonio","raw_affiliation_strings":[],"affiliations":[]}],"institution_assertions":[],"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":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":0,"max":77},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9313,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9313,"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":[],"concepts":[{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.74484086},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6961116},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.67458075},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.56464666},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4890326},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3836765},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29113278},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.24173123},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17123383},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.130205},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2410.12434","pdf_url":"http://arxiv.org/pdf/2410.12434","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2410.12434","pdf_url":"http://arxiv.org/pdf/2410.12434","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4379536980","https://openalex.org/W4214562868","https://openalex.org/W4211095314","https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W2080330449","https://openalex.org/W2011222276","https://openalex.org/W2007221537","https://openalex.org/W1999058329","https://openalex.org/W1991249326"],"abstract_inverted_index":{"We":[0,30,104],"propose":[1],"a":[2,12,17,48],"new":[3],"multirotor":[4],"aerial":[5],"vehicle":[6],"class":[7],"of":[8,11,35,39,51,59,96],"designs":[9],"composed":[10],"multi-body":[13],"structure":[14],"in":[15],"which":[16,40],"main":[18,56],"body":[19,57],"is":[20,89],"connected":[21],"by":[22],"passive":[23],"joints":[24],"to":[25,43,54,92],"links":[26],"equipped":[27],"with":[28,100,110],"propellers.":[29],"have":[31],"investigated":[32],"some":[33,38],"instances":[34],"such":[36],"class,":[37],"are":[41,77],"shown":[42],"achieve":[44],"omnidirectionality":[45],"while":[46],"having":[47],"minimum":[49],"number":[50],"inputs":[52],"equal":[53],"the":[55,80,94,107],"Degrees":[58],"Freedom":[60],"DoF's,":[61],"only":[62],"uni-directional":[63],"positive":[64],"thrust":[65],"propellers,":[66],"and":[67],"no":[68],"internal":[69],"forces":[70],"generated":[71],"at":[72],"steady":[73],"state.":[74],"After":[75],"dynamics":[76],"derived":[78],"following":[79],"Euler-Lagrange":[81],"approach,":[82],"an":[83],"I/O":[84],"dynamic":[85],"feedback":[86],"linearization":[87],"strategy":[88],"then":[90],"used":[91],"show":[93],"controllability":[95],"any":[97],"desired":[98],"pose":[99],"stable":[101],"zero":[102],"dynamics.":[103],"finally":[105],"verify":[106],"developed":[108],"controller":[109],"closed-loop":[111],"simulations.":[112]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4403578108","counts_by_year":[],"updated_date":"2025-04-19T23:04:12.011483","created_date":"2024-10-20"}