{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T19:00:05Z","timestamp":1777489205318,"version":"3.51.4"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2022,3,7]],"date-time":"2022-03-07T00:00:00Z","timestamp":1646611200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,3,7]],"date-time":"2022-03-07T00:00:00Z","timestamp":1646611200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100006469","name":"fundo para o desenvolvimento das ci\u00eancias e da tecnologia","doi-asserted-by":"publisher","award":["FDCT\/0031\/2020\/AFJ"],"award-info":[{"award-number":["FDCT\/0031\/2020\/AFJ"]}],"id":[{"id":"10.13039\/501100006469","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004733","name":"University of Macau","doi-asserted-by":"crossref","award":["MYRG2018-00198-FST"],"award-info":[{"award-number":["MYRG2018-00198-FST"]}],"id":[{"id":"10.13039\/501100004733","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001871","name":"funda\u00e7\u00e3o para a ci\u00eancia e a tecnologia","doi-asserted-by":"publisher","award":["ISR LARSyS-FCT Project under Grant UIDB\/50009\/2020"],"award-info":[{"award-number":["ISR LARSyS-FCT Project under Grant UIDB\/50009\/2020"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001871","name":"funda\u00e7\u00e3o para a ci\u00eancia e a tecnologia","doi-asserted-by":"publisher","award":["Scientific Employment Stimulus research contract CEECIND\/04199\/2017"],"award-info":[{"award-number":["Scientific Employment Stimulus research contract CEECIND\/04199\/2017"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2022,4]]},"DOI":"10.1007\/s10514-022-10035-y","type":"journal-article","created":{"date-parts":[[2022,3,7]],"date-time":"2022-03-07T19:06:43Z","timestamp":1646680003000},"page":"499-513","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":34,"title":["Aggressive maneuvers for a quadrotor-slung-load system through fast trajectory generation and tracking"],"prefix":"10.1007","volume":"46","author":[{"given":"Gan","family":"Yu","sequence":"first","affiliation":[]},{"given":"David","family":"Cabecinhas","sequence":"additional","affiliation":[]},{"given":"Rita","family":"Cunha","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5096-5527","authenticated-orcid":false,"given":"Carlos","family":"Silvestre","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2022,3,7]]},"reference":[{"issue":"4","key":"10035_CR1","doi-asserted-by":"publisher","first-page":"46","DOI":"10.1109\/MCS.2014.2320359","volume":"34","author":"F Augugliaro","year":"2014","unstructured":"Augugliaro F, Lupashin S, Hamer M, Male C, Hehn M, Mueller MW, Willmann JS, Gramazio F, Kohler M, D\u2019Andrea R (2014) The flight assembled architecture installation: Cooperative construction with flying machines. IEEE Control Systems Magazine 34(4), 46\u201364.","journal-title":"IEEE Control Systems Magazine"},{"key":"10035_CR2","doi-asserted-by":"crossref","unstructured":"Bernard, M., & Kondak, K. (2009). Generic slung load transportation system using small size helicopters. In: Proceedings of the 2009 IEEE International Conference on Robotics and Automation (pp. 3258\u20133264).","DOI":"10.1109\/ROBOT.2009.5152382"},{"issue":"6","key":"10035_CR3","doi-asserted-by":"publisher","first-page":"914","DOI":"10.1002\/rob.20401","volume":"28","author":"M Bernard","year":"2011","unstructured":"Bernard M, Kondak K, Maza I, Ollero A (2011) Autonomous transportation and deployment with aerial robots for search and rescue missions. Journal of Field Robotics 28(6), 914\u2013931.","journal-title":"Journal of Field Robotics"},{"issue":"7","key":"10035_CR4","doi-asserted-by":"publisher","first-page":"800","DOI":"10.1016\/j.conengprac.2010.01.017","volume":"18","author":"M Bisgaard","year":"2010","unstructured":"Bisgaard M, la Cour-Harbo A, Bendtsen JD (2010) Adaptive control system for autonomous helicopter slung load operations. Control Engineering Practice 18(7):800\u2013811.","journal-title":"Control Engineering Practice"},{"key":"10035_CR5","unstructured":"Blade 200 qx quadrotor. (2021). https:\/\/web.archive.org\/web\/20180817103711\/http:\/\/www.bladehelis.com\/200QX\/, [Accessed June 2021]"},{"key":"10035_CR6","unstructured":"Cable-suspended tree transportation. (2021). https:\/\/www.youtube.com\/watch?v=pS5zrfpim-I, [Accessed June 2021]"},{"key":"10035_CR7","doi-asserted-by":"crossref","unstructured":"Chen, J., Su, K., & Shen, S. (2015). Real-time safe trajectory generation for quadrotor flight in cluttered environments. In: Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics (pp. 1678\u20131685).","DOI":"10.1109\/ROBIO.2015.7419013"},{"key":"10035_CR8","unstructured":"Chinneck, J. W. (2015). Practical optimization: a gentle introduction. http:\/\/www.sce.carleton.ca\/faculty\/chinneck\/po.html"},{"issue":"8","key":"10035_CR9","doi-asserted-by":"publisher","first-page":"1629","DOI":"10.1007\/s10514-017-9632-2","volume":"41","author":"PJ Cruz","year":"2017","unstructured":"Cruz, P. J., & Fierro, R. (2017). Cable-suspended load lifting by a quadrotor uav: hybrid model, trajectory generation, and control. Autonomous Robots,41(8), 1629\u20131643.","journal-title":"Autonomous Robots"},{"key":"10035_CR10","doi-asserted-by":"crossref","unstructured":"Cutler, M., & How, J. P. (2015). Analysis and control of a variable-pitch quadrotor for agile flight. Journal of Dynamic Systems, Measurement and Control,137.","DOI":"10.1115\/1.4030676"},{"key":"10035_CR11","unstructured":"de\u00a0Crousaz, C., Farshidian, F., & Buchli, J. (2014). Aggressive optimal control for agile flight with a slung load. In: Proceedings of the 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Machine Learning in Planning and Control of Robot Motion."},{"key":"10035_CR12","doi-asserted-by":"crossref","unstructured":"Foehn, P., Falanga1, D., Kuppuswamy, N., Tedrake, R., & Scaramuzza, D. (2017). Fast trajectory optimization for agile quadrotor maneuvers with a cable-suspended payload. Robotics: Science and Systems pp 1\u201310","DOI":"10.15607\/RSS.2017.XIII.030"},{"key":"10035_CR13","doi-asserted-by":"crossref","unstructured":"Gawel, A., Kamel, M., Novkovic, T., Widauer, J., Schindler, D., von Altishofen, B. P., Siegwart, R., & Nieto, J. (2017). Aerial picking and delivery of magnetic objects with mavs. In: Proceedings of the 2017 IEEE International Conference on Robotics and Automation (pp. 5746\u20135752).","DOI":"10.1109\/ICRA.2017.7989675"},{"key":"10035_CR14","doi-asserted-by":"crossref","unstructured":"Guerrero, M. E., Mercado, D. A., Lozano, R., & Garc\u00eda, C. D. (2015). Passivity based control for a quadrotor uav transporting a cable-suspended payload with minimum swing. In: Proceedings of the 2015 IEEE Conference on Decision and Control (pp. 6718\u20136723).","DOI":"10.1109\/CDC.2015.7403277"},{"key":"10035_CR15","doi-asserted-by":"crossref","unstructured":"Guo, M., Gu, D., Zha, W., Zhu, X., & Su, Y. (2019). Controlling a quadrotor carrying a cable-suspended load to pass through a window. Journal of Intelligent and Robotic Systems, 1\u201315.","DOI":"10.1007\/s10846-019-01038-6"},{"key":"10035_CR16","doi-asserted-by":"crossref","unstructured":"Klausen, K., Fossen, T. I., & Johansen, T. A. (2015). Nonlinear control of a multirotor uav with suspended load. In: Proceedings of the 2015 International Conference on Unmanned Aircraft Systems (pp. 176\u2013184).","DOI":"10.1109\/ICUAS.2015.7152289"},{"issue":"3","key":"10035_CR17","doi-asserted-by":"publisher","first-page":"323","DOI":"10.1007\/s10514-012-9305-0","volume":"33","author":"Q Lindsey","year":"2012","unstructured":"Lindsey Q, Mellinger D, Kumar V (2012) Construction with quadrotor teams. Autonomous Robots 33(3), 323\u2013336.","journal-title":"Autonomous Robots"},{"key":"10035_CR18","doi-asserted-by":"crossref","unstructured":"Mellinger, D., & Kumar, V. (2011). Minimum snap trajectory generation and control for quadrotors. In: Proceedings of the 2011 IEEE International Conference on Robotics and Automation (pp. 2520\u20132525).","DOI":"10.1109\/ICRA.2011.5980409"},{"key":"10035_CR19","doi-asserted-by":"crossref","unstructured":"Mellinger, D., Lindsey, Q., Shomin, M., & Kumar, V. (2011). Design, modeling, estimation and control for aerial grasping and manipulation. In: Proceedings of the 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems (pp. 2668\u20132673).","DOI":"10.1109\/IROS.2011.6094871"},{"issue":"1","key":"10035_CR20","doi-asserted-by":"publisher","first-page":"73","DOI":"10.1007\/s10514-010-9205-0","volume":"30","author":"N Michael","year":"2011","unstructured":"Michael N, Fink J, Kumar V (2011) Cooperative manipulation and transportation with aerial robots. Autonomous Robots 30(1), 73\u201386.","journal-title":"Autonomous Robots"},{"key":"10035_CR21","volume-title":"Numerical Optimization","author":"J Nocedal","year":"2006","unstructured":"Nocedal, J., & Wright, S. J. (2006). Numerical Optimization. Berlin: Springer Science & Business Media."},{"key":"10035_CR22","doi-asserted-by":"crossref","unstructured":"Palunko, I., Fierro, R., & Cruz, P. (2012). Trajectory generation for swing-free maneuvers of a quadrotor with suspended payload: A dynamic programming approach. In: Proceedings of the 2012 IEEE International Conference on Robotics and Automation (pp. 2691\u20132697).","DOI":"10.1109\/ICRA.2012.6225213"},{"key":"10035_CR23","doi-asserted-by":"crossref","unstructured":"Pounds, P. E. I., Bersak, D. R., & Dollar, A. M. (2011). Grasping from the air: Hovering capture and load stability. In: Proceedings of the 2011 IEEE International Conference on Robotics and Automation (pp. 2491\u20132498).","DOI":"10.1109\/ICRA.2011.5980314"},{"issue":"4","key":"10035_CR24","doi-asserted-by":"publisher","first-page":"755","DOI":"10.2514\/2.4943","volume":"25","author":"A Richards","year":"2002","unstructured":"Richards A, Schouwenaars T, How JP, Feron E (2002) Spacecraft trajectory planning with avoidance constraints using mixed-integer linear programming. Journal of Guidance, Control, and Dynamics 25(4), 755\u2013764.","journal-title":"Journal of Guidance, Control, and Dynamics"},{"key":"10035_CR25","doi-asserted-by":"crossref","unstructured":"Richter, C., Bry, A., & Roy, N. (2016). Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments. In: Robotics Research: The 16th International Symposium ISRR (pp. 649\u2013666).","DOI":"10.1007\/978-3-319-28872-7_37"},{"issue":"2","key":"10035_CR26","doi-asserted-by":"publisher","first-page":"1915","DOI":"10.1109\/LRA.2020.2967279","volume":"5","author":"CY Son","year":"2020","unstructured":"Son, C. Y., Seo, H., Jang, D., & Kim, H. J. (2020). Real-time optimal trajectory generation and control of a multi-rotor with a suspended load for obstacle avoidance. IEEE Robotics and Automation Letters, 5(2), 1915\u20131922.","journal-title":"IEEE Robotics and Automation Letters"},{"key":"10035_CR27","doi-asserted-by":"crossref","unstructured":"Sreenath, K., Lee, T., & Kumar, V. (2013). Geometric control and differential flatness of a quadrotor uav with a cable-suspended load. In: Proceedings of the 2013 IEEE Conference on Decision and Control (pp. 2269\u20132274).","DOI":"10.1109\/CDC.2013.6760219"},{"key":"10035_CR28","doi-asserted-by":"crossref","unstructured":"Tang, S., & Kumar, V. (2015). Mixed integer quadratic program trajectory generation for a quadrotor with a cable-suspended payload. In: Proceedings of the 2015 IEEE International Conference on Robotics and Automation (pp. 2216\u20132222).","DOI":"10.1109\/ICRA.2015.7139492"},{"issue":"1\u20132","key":"10035_CR29","doi-asserted-by":"publisher","first-page":"143","DOI":"10.1007\/s10514-012-9279-y","volume":"33","author":"M Turpin","year":"2012","unstructured":"Turpin M, Michael N, Kumar V (2012) Trajectory design and control for aggressive formation flight with quadrotors. Autonomous Robots 33(1\u20132), 143\u2013156.","journal-title":"Autonomous Robots"},{"key":"10035_CR30","unstructured":"VICON. (2021). http:\/\/www.vicon.com, [Accessed June 2021]"},{"key":"10035_CR31","doi-asserted-by":"crossref","unstructured":"Wu, G., & Sreenath, K. (2014). Geometric control of multiple quadrotors transporting a rigid-body load. In: Proceedings of the 2014 IEEE Conference on Decision and Control (pp. 6141\u20136148).","DOI":"10.1109\/CDC.2014.7040351"},{"issue":"5","key":"10035_CR32","doi-asserted-by":"publisher","first-page":"2304","DOI":"10.1109\/TMECH.2019.2930211","volume":"24","author":"G Yu","year":"2019","unstructured":"Yu G, Cabecinhas D, Cunha R, Silvestre C (2019a) Nonlinear backstepping control of a quadrotor-slung load system. IEEE\/ASME Transactions on Mechatronics 24(5), 2304\u20132315.","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"12","key":"10035_CR33","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1016\/j.ifacol.2019.11.069","volume":"52","author":"G Yu","year":"2019","unstructured":"Yu G, Cabecinhas D, Cunha R, Silvestre C (2019b) Quadrotor trajectory generation and tracking for aggressive maneuvers with attitude constraints. IFAC-PapersOnLine 52(12):55\u201360.","journal-title":"IFAC-PapersOnLine"},{"key":"10035_CR34","doi-asserted-by":"crossref","unstructured":"Zeng, J., Kotaru, P., & Sreenath, K. (2019). Geometric control and differential flatness of a quadrotor uav with load suspended from a pulley. In: Proceedings of the 2019 American Control Conference (pp. 2420\u20132427).","DOI":"10.23919\/ACC.2019.8815173"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-022-10035-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10514-022-10035-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-022-10035-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,11]],"date-time":"2022-04-11T20:07:27Z","timestamp":1649707647000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10514-022-10035-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,3,7]]},"references-count":34,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2022,4]]}},"alternative-id":["10035"],"URL":"https:\/\/doi.org\/10.1007\/s10514-022-10035-y","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,3,7]]},"assertion":[{"value":"26 May 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 January 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 March 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}