{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,10]],"date-time":"2026-03-10T13:57:50Z","timestamp":1773151070857,"version":"3.50.1"},"reference-count":22,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2006,2,1]],"date-time":"2006-02-01T00:00:00Z","timestamp":1138752000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2006,2]]},"DOI":"10.1007\/s10846-005-9015-3","type":"journal-article","created":{"date-parts":[[2006,6,9]],"date-time":"2006-06-09T07:52:19Z","timestamp":1149839539000},"page":"115-135","source":"Crossref","is-referenced-by-count":69,"title":["Time-Optimal Control of a Hovering Quad-Rotor Helicopter"],"prefix":"10.1007","volume":"45","author":[{"given":"Li-Chun","family":"Lai","sequence":"first","affiliation":[]},{"given":"Chi-Ching","family":"Yang","sequence":"additional","affiliation":[]},{"given":"Chia-Ju","family":"Wu","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2006,6,10]]},"reference":[{"key":"9015_CR1","doi-asserted-by":"crossref","unstructured":"Altug, E., Ostrowski, J. P., and Taylor, C. J.: Quadrotor control using dual camera visual feedback, in: Proc. of IEEE International Conference on Robotics and Automation, 2003, pp. 4294\u20134299.","DOI":"10.1109\/ROBOT.2003.1242264"},{"key":"9015_CR2","doi-asserted-by":"crossref","unstructured":"Altug, E., Ostrowski, J. P., and Mahony, R.: Control of a quadrotor helicopter using visual feedback, in: Proc. of IEEE International Conference on Robotics and Automation, 2002, pp. 72\u201377.","DOI":"10.1109\/ROBOT.2002.1013341"},{"key":"9015_CR3","doi-asserted-by":"crossref","unstructured":"Bouabdallah, S., Murrieri, P., and Siegwart, R.: Design and control of an indoor micro quadrotor, in: Proc. of IEEE International Conference on Robotics and Automation, 2004, pp. 4393\u20134398.","DOI":"10.1109\/ROBOT.2004.1302409"},{"key":"9015_CR4","doi-asserted-by":"crossref","first-page":"510","DOI":"10.1109\/TCST.2004.825052","volume":"12","author":"P. Castillo","year":"2004","unstructured":"Castillo, P., Dzul, A., and Lozano, R.: Real-time stabilization and tracking of a four-rotor mini rotorcraft, IEEE Trans. Control Syst. Technol. 12 (2004), 510\u2013516.","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"9015_CR5","doi-asserted-by":"crossref","first-page":"623","DOI":"10.1016\/0094-5765(95)00012-O","volume":"35","author":"J. S. Chern","year":"1995","unstructured":"Chern, J. S., Hong, Z. C., and Chen Y. T.: Approximate chattering arc for minimum time flight, Acta Astronaut. 35 (1995), 623\u2013631.","journal-title":"Acta Astronaut."},{"key":"9015_CR6","doi-asserted-by":"crossref","first-page":"841","DOI":"10.1016\/0005-1098(92)90048-K","volume":"28","author":"T. S. Chung","year":"1992","unstructured":"Chung, T. S. and Wu, C. J.: A computationally efficient numerical algorithm for the minimum-time control problem of continuous systems, Automatica 28 (1992), 841\u2013847.","journal-title":"Automatica"},{"key":"9015_CR7","volume-title":"Genetic Algorithm and Engineering Design","author":"M. Gen","year":"1997","unstructured":"Gen, M. and Cheng, R.: Genetic Algorithm and Engineering Design, Wiley, New York, 1997."},{"key":"9015_CR8","doi-asserted-by":"crossref","unstructured":"Hamel, T., Mahony, R., and Chriette, A.: Visual servo trajectory tracking for a four rotor VTOL aerial vehicle, in: Proc. of IEEE International Conference on Robotics and Automation, 2002, pp. 2781\u20132786.","DOI":"10.1109\/ROBOT.2002.1013653"},{"key":"9015_CR9","doi-asserted-by":"crossref","unstructured":"Hamel, T., Mahony, R., Lozano, R., and Ostrowski, J.: Dynamic modeling and configuration stabilization for an X4-Flyer, in: Proc. of International Federation of Automatic Control Symposium, 2002.","DOI":"10.3182\/20020721-6-ES-1901.00848"},{"key":"9015_CR10","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1016\/S0094-5765(03)00194-2","volume":"54","author":"Y. W. Jan","year":"2003","unstructured":"Jan, Y. W. and Chiou, J. C.: Minimum-time spacecraft maneuver using sliding-mode control, Acta Astronaut. 54 (2003), 69\u201375.","journal-title":"Acta Astronaut."},{"key":"9015_CR11","volume-title":"Optimal Control","author":"F. L. Lewis","year":"1986","unstructured":"Lewis, F. L.: Optimal Control, Wiley, New York, 1986."},{"key":"9015_CR12","doi-asserted-by":"crossref","unstructured":"Lozano, R., Castillo, P., Garcia, P., and Dzul, A.: Robust prediction-based control for unstable delay systems, in: Proc. of IEEE International Conference on Decision and Control, 2003, pp. 4014\u20134019.","DOI":"10.1109\/CDC.2003.1271778"},{"key":"9015_CR13","volume-title":"Linear and Nonlinear Programming","author":"D. G. Luenberger","year":"1973","unstructured":"Luenberger, D. G.: Linear and Nonlinear Programming, Addison-Wesley, Reading, 1973."},{"key":"9015_CR14","doi-asserted-by":"crossref","unstructured":"McKerrow, P.: Modelling the Draganflyer four-rotor helicopter, in: Proc. of IEEE International Conference on Robotics and Automation, 2004, pp. 3596\u20133601.","DOI":"10.1109\/ROBOT.2004.1308810"},{"key":"9015_CR15","doi-asserted-by":"crossref","unstructured":"Mistler, V., Benallegue, A., and M'Sirdi, N. K.: Exact linearization and noninteracting control of a 4 rotors helicopter via dynamic feedback, in: Proc. of IEEE International Workshop on Robot and Human Interactive Communication, 2001, pp. 586\u2013593.","DOI":"10.1109\/ROMAN.2001.981968"},{"key":"9015_CR16","doi-asserted-by":"crossref","unstructured":"Mokhtari, A. and Benallegue, A.: Dynamic feedback controller of Euler angles and wind parameters estimation for a quadrotor unmanned aerial vehicle, in: Proc. of IEEE International Conference on Robotics and Automation, 2004, pp. 2359\u20132366.","DOI":"10.1109\/ROBOT.2004.1307414"},{"key":"9015_CR17","volume-title":"The Mathematical Theory of Optimal Processes","author":"L. S. Pontryagin","year":"1986","unstructured":"Pontryagin, L. S., Boltyanskii, V. G., Gamkrelidze, R. V., and Mishchenko, E. F.: The Mathematical Theory of Optimal Processes, Gordon and Beach, New York, 1986."},{"key":"9015_CR18","unstructured":"Pounds, P., Mahony, R., Hynes, P., and Roberts, J.: Design of a four-rotor aerial robot, in: Proc. of Australasian Conference on Robotics and Automation, 2002, pp. 145\u2013150."},{"key":"9015_CR19","doi-asserted-by":"crossref","first-page":"672","DOI":"10.1109\/9.489204","volume":"41","author":"P. Soueres","year":"1996","unstructured":"Soueres, P. and Laumond, J. P.: Shortest paths synthesis for a car-like robot, IEEE Trans. Automat. Contr. 41 (1996), 672\u2013688.","journal-title":"IEEE Trans. Automat. Contr."},{"key":"9015_CR20","doi-asserted-by":"crossref","unstructured":"Suter, D., Hamel, T., and Mahony, R.: Visual servo control using homography estimation for the stabilization of an X4-flyer, in: Proc. of IEEE International Conference on Decision and Control, 2002, pp. 2872\u20132877.","DOI":"10.1109\/CDC.2002.1184284"},{"key":"9015_CR21","unstructured":"Wu, W., Chen, H., and Woo, P. Y.: Optimal motion planning for a wheeled mobile robot, in: Proc. IEEE International Conference on Robotics and Automation, 1999, pp. 41\u201346."},{"key":"9015_CR22","doi-asserted-by":"crossref","unstructured":"Zheng, Y. and Moore, P.: The design of time-optimal control for two-wheel driven carts tracking a moving target, in: Proc. of IEEE International Conference on Decision and Control, 1995, pp. 3831\u20133836.","DOI":"10.1109\/CDC.1995.479195"}],"container-title":["Journal of Intelligent and Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-005-9015-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-005-9015-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-005-9015-3","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,9]],"date-time":"2025-01-09T09:12:16Z","timestamp":1736413936000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-005-9015-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2006,2]]},"references-count":22,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2006,2]]}},"alternative-id":["9015"],"URL":"https:\/\/doi.org\/10.1007\/s10846-005-9015-3","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2006,2]]}}}