{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,21]],"date-time":"2025-10-21T15:50:43Z","timestamp":1761061843769,"version":"build-2065373602"},"reference-count":36,"publisher":"Wiley","issue":"10","license":[{"start":{"date-parts":[[2023,7,20]],"date-time":"2023-07-20T00:00:00Z","timestamp":1689811200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["JP19H04188"],"award-info":[{"award-number":["JP19H04188"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2023,10]]},"abstract":"<jats:p>State\u2010of\u2010the\u2010art aerial robots often prioritize maneuverability or manipulation capabilities, making it difficult to achieve both. The issue arises because aerial robots with agile mobility lack sufficient rotors for manipulation tasks, while those with manipulation ability are too large for agile mobility. To tackle this problem, a novel aerial robot unit named TRADY, tilted\u2010rotor\u2010equipped aerial robot with autonomous in\u2010flight assembly and disassembly capability, is introduced. The TRADY unit can self\u2010assemble\/disassemble with another unit in mid\u2010air, adjusting the aircraft's control freedom by switching between under\u2010actuated and fully\u2010actuated control models. The system implementation involves a docking mechanism design, optimized rotor configuration, as well as a control system with the ability to switch between under\u2010actuated and fully\u2010actuated controllers. A proposed state transition method compensates for discrete changes during the controller switchover process. Also, a motion strategy for assembly\/disassembly with hazardous condition recovery behavior is presented. Finally, through experiments, TRADY demonstrated a 90 % success rate in executing assembly\/disassembly motions, and in the assembly state, it can utilize full\u2010pose tracking and generate over nine times the torque of a single unit. This is the first aerial robot developed to perform both assembly and disassembly while seamlessly transitioning between fully\u2010actuated and under\u2010actuated models.<\/jats:p>","DOI":"10.1002\/aisy.202300191","type":"journal-article","created":{"date-parts":[[2023,7,21]],"date-time":"2023-07-21T01:55:48Z","timestamp":1689904548000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Design, Control, and Motion Strategy of TRADY: Tilted\u2010Rotor\u2010Equipped Aerial Robot With Autonomous In\u2010Flight Assembly and Disassembly Ability"],"prefix":"10.1002","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0009-0009-7937-3996","authenticated-orcid":false,"given":"Junichiro","family":"Sugihara","sequence":"first","affiliation":[{"name":"Department of Mechano-Infomatics The University of Tokyo  Bunkyo-ku Tokyo 113-8656 Japan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0212-5507","authenticated-orcid":false,"given":"Takuzumi","family":"Nishio","sequence":"additional","affiliation":[{"name":"Department of Mechano-Infomatics The University of Tokyo  Bunkyo-ku Tokyo 113-8656 Japan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2399-3087","authenticated-orcid":false,"given":"Keisuke","family":"Nagato","sequence":"additional","affiliation":[{"name":"Department of Mechanical-Engineering The University of Tokyo  Bunkyo-ku Tokyo 113-8656 Japan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6064-759X","authenticated-orcid":false,"given":"Masayuki","family":"Nakao","sequence":"additional","affiliation":[{"name":"Department of Mechanical-Engineering The University of Tokyo  Bunkyo-ku Tokyo 113-8656 Japan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8361-5825","authenticated-orcid":false,"given":"Moju","family":"Zhao","sequence":"additional","affiliation":[{"name":"Department of Mechanical-Engineering The University of Tokyo  Bunkyo-ku Tokyo 113-8656 Japan"}]}],"member":"311","published-online":{"date-parts":[[2023,7,20]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature14542"},{"key":"e_1_2_11_3_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912455954"},{"key":"e_1_2_11_4_1","doi-asserted-by":"crossref","unstructured":"R.Bonatti Y.Zhang S.Choudhury W.Wang S.Scherer inProc. of the 2018 Int. Symp. on Experimental Robotics Springer New York2020 pp.119\u2013129.","DOI":"10.1007\/978-3-030-33950-0_11"},{"key":"e_1_2_11_5_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-22327-4_12"},{"key":"e_1_2_11_6_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21436"},{"key":"e_1_2_11_7_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9292-1"},{"key":"e_1_2_11_8_1","doi-asserted-by":"publisher","DOI":"10.3390\/drones3030070"},{"key":"e_1_2_11_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2885575"},{"key":"e_1_2_11_10_1","unstructured":"D.Yang S.Mishra D. M.Aukes W.Zhang inAmerican Control Conf. 2019 p.2551."},{"key":"e_1_2_11_11_1","doi-asserted-by":"crossref","unstructured":"N.Zhao Y.Luo H.Deng Y.Shen inIEEE\/RSJ Int. Conf. on Intelligent Robots and Systems IEEE Piscataway NJ2017 pp.2391\u20132396.","DOI":"10.1109\/IROS.2017.8206052"},{"key":"e_1_2_11_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3193792"},{"key":"e_1_2_11_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2018.2866758"},{"key":"e_1_2_11_14_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2018.06.012"},{"key":"e_1_2_11_15_1","unstructured":"D.Mellinger Q.Lindsey M.Shomin V.Kumar inIEEE\/RSJ Int. Conf. on Intelligent Robots and Systems IEEE Piscataway NJ2011 pp.2668\u20132673."},{"key":"e_1_2_11_16_1","unstructured":"G.Heredia A.Jimenez-Cano I.Sanchez D.Llorente V.Vega J.Braga J.Acosta A.Ollero inIEEE\/RSJ Int. Conf. on Intelligent Robots and Systems IEEE Piscataway NJ2014 pp.3417\u20133422."},{"key":"e_1_2_11_17_1","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2016.1181006"},{"key":"e_1_2_11_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2967285"},{"key":"e_1_2_11_19_1","doi-asserted-by":"crossref","unstructured":"H.Yang S.Park J.Lee J.Ahn D.Son D.Lee inIEEE Int. Conf. on Robotics and Automation IEEE Piscataway NJ2018 pp.7017\u20137023.","DOI":"10.1109\/ICRA.2018.8460713"},{"key":"e_1_2_11_20_1","first-page":"1","volume":"0","author":"Zhao M.","year":"2022","journal-title":"Int. J. Robot. Res."},{"key":"e_1_2_11_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2015.2391173"},{"key":"e_1_2_11_22_1","doi-asserted-by":"crossref","unstructured":"K.Garanger J.Epps E.Feron inIEEE Aerospace Conf. IEEE Piscataway NJ2020 pp.1\u201311.","DOI":"10.1109\/AERO47225.2020.9172614"},{"key":"e_1_2_11_23_1","doi-asserted-by":"crossref","unstructured":"J.Xu D. S.D\u2019Antonio D.Saldana IEEE Inte. Conf. on Robotics and Automation (ICRA) Institute of Electrical and Electronics Engineers Inc. Piscataway NJ2021 pp.190\u2013196.","DOI":"10.1109\/ICRA48506.2021.9561016"},{"key":"e_1_2_11_24_1","doi-asserted-by":"crossref","unstructured":"R.Oung A.Ramezani R.D\u2019Andrea inProc. of the 48h IEEE Conf. on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conf. IEEE Piscataway NJ2009 pp.3038\u20133044.","DOI":"10.1109\/CDC.2009.5400272"},{"key":"e_1_2_11_25_1","unstructured":"R.Oung F.Bourgault M.Donovan R.D\u2019Andrea inIEEE Int. Conf. on Robotics and Automation IEEE Piscataway NJ2010 pp.601\u2013607."},{"key":"e_1_2_11_26_1","doi-asserted-by":"crossref","unstructured":"D.Saldana B.Gabrich G.Li M.Yim V.Kumar IEEE Inte. Conf. on Robotics and Automation (ICRA) Vol.9 IEEE Piscataway NJ2018 pp.691.","DOI":"10.1109\/ICRA.2018.8461014"},{"key":"e_1_2_11_27_1","first-page":"3402","volume":"410","author":"Saldana D.","year":"2019","journal-title":"IEEE Robot. Autom. Lett."},{"key":"e_1_2_11_28_1","doi-asserted-by":"crossref","unstructured":"I.O\u2019Hara J.Paulos J.Davey N.Eckenstein N.Doshi T.Tosun J.Greco J.Seo M.Turpin V.Kumar M.Yim inIEEE Int. Conf. on Robotics and Automation IEEE Piscataway NJ2014 pp.1234\u20131240.","DOI":"10.1109\/ICRA.2014.6907011"},{"key":"e_1_2_11_29_1","unstructured":"K.Yanagimura K.Ohno Y.Okada E.Takeuchi S.Tadokoro inIEEE Int. Conf. on Robotics and Automation IEEE Piscataway NJ2014 pp.6250\u20136257."},{"key":"e_1_2_11_30_1","unstructured":"P. J.Underwood F.Kocijan US Patent 6707360B2 062000."},{"key":"e_1_2_11_31_1","doi-asserted-by":"publisher","DOI":"10.2514\/1.19694"},{"key":"e_1_2_11_32_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2004.06.006"},{"key":"e_1_2_11_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3056027"},{"key":"e_1_2_11_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.878967"},{"key":"e_1_2_11_35_1","unstructured":"N. Documentation Nlopt Algorithms https:\/\/nlopt.readthedocs.io\/en\/latest\/NLopt_Algorithms\/#isres-improved-stochastic-ranking-evolution-strategy(accessed: December 2023)."},{"key":"e_1_2_11_36_1","doi-asserted-by":"crossref","unstructured":"T.Lee M.Leok N. H.McClamroch in49th IEEE Conf. on Decision and Control (CDC) IEEE Piscataway NJ2010 pp.5420\u20135425.","DOI":"10.1109\/CDC.2010.5717652"},{"key":"e_1_2_11_37_1","doi-asserted-by":"publisher","DOI":"10.1080\/00207177208932211"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202300191","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T23:15:57Z","timestamp":1759878957000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202300191"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,7,20]]},"references-count":36,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2023,10]]}},"alternative-id":["10.1002\/aisy.202300191"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202300191","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"type":"print","value":"2640-4567"},{"type":"electronic","value":"2640-4567"}],"subject":[],"published":{"date-parts":[[2023,7,20]]},"assertion":[{"value":"2023-04-16","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-07-20","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2300191"}}