{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,26]],"date-time":"2026-01-26T00:48:45Z","timestamp":1769388525989,"version":"3.49.0"},"reference-count":57,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2016,8,12]],"date-time":"2016-08-12T00:00:00Z","timestamp":1470960000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"name":"Natural Sciences and Engineering Research Council of Canada (NESRC)"},{"name":"Research and Development Corporation (RDC)"},{"name":"C-CORE J.I. Clark Chair"},{"DOI":"10.13039\/501100005616","name":"Memorial University of Newfoundland","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100005616","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2017,2]]},"DOI":"10.1007\/s10846-016-0408-2","type":"journal-article","created":{"date-parts":[[2016,8,12]],"date-time":"2016-08-12T09:08:24Z","timestamp":1470992904000},"page":"385-408","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":28,"title":["An Optimization Based Approach for Relative Localization and Relative Tracking Control in Multi-Robot Systems"],"prefix":"10.1007","volume":"85","author":[{"given":"Mohamed W.","family":"Mehrez","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"George K.","family":"I. Mann","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Raymond G.","family":"Gosine","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2016,8,12]]},"reference":[{"issue":"1-4","key":"408_CR1","doi-asserted-by":"crossref","first-page":"329","DOI":"10.1007\/s10846-012-9716-3","volume":"70","author":"J Acevedo","year":"2013","unstructured":"Acevedo, J., Arrue, B., Maza, I., Ollero, A.: Cooperative large area surveillance with a team of aerial mobile robots for long endurance missions. J. Intell. Robot. Syst. 70(1-4), 329\u2013345 (2013)","journal-title":"J. Intell. Robot. Syst."},{"issue":"28","key":"408_CR2","first-page":"1","volume":"10","author":"J Acevedo","year":"2013","unstructured":"Acevedo, J., Arrue, B., Maza, I., Ollero, A.: Distributed approach for coverage and patrolling missions with a team of heterogeneous aerial robots under communication constraints. Int. J. Adv. Robot. Syst. 10(28), 1\u201313 (2013)","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"408_CR3","unstructured":"Adept mobilerobots: Pioneer-3at operation manual. www.mobilerobots.com\/ResearchRobots\/P3AT.aspx . Accessed: 2016-03-18"},{"key":"408_CR4","doi-asserted-by":"crossref","unstructured":"Alessandri, A., Awawdeh, M.: Moving-Horizon Estimation for Discrete-Time Linear Systems with Measurements Subject to Outliers. In: Decision and Control (CDC), 2014 IEEE 53Rd Annual Conference On, pp 2591\u20132596 (2014)","DOI":"10.1109\/CDC.2014.7039785"},{"key":"408_CR5","doi-asserted-by":"crossref","unstructured":"Antonelli, G., Arrichiello, F., Chiaverini, S.: Flocking for Multi-Robot Systems via the Null-Space-Based Behavioral Control. In: Intelligent Robots and Systems, 2008. IROS 2008. IEEE\/RSJ International Conference On, pp 1409\u20131414 (2008)","DOI":"10.1109\/IROS.2008.4650626"},{"key":"408_CR6","unstructured":"Awawdeh, M.J.: Moving-Horizon Estimation for Outliers Detection and Data Mining Applications. Ph.D. thesis, Universita degli Studi di Genova (2015)"},{"issue":"6","key":"408_CR7","doi-asserted-by":"crossref","first-page":"926","DOI":"10.1109\/70.736776","volume":"14","author":"T Balch","year":"1998","unstructured":"Balch, T., Arkin, R.: Behavior-based formation control for multirobot teams. IEEE Trans. Robot. Autom. 14(6), 926\u2013939 (1998)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"408_CR8","doi-asserted-by":"crossref","unstructured":"Balch, T., Hybinette, M.: Social Potentials for Scalable Multi-Robot Formations. In: Robotics and Automation, 2000. Proceedings. ICRA \u201900. IEEE International Conference On. 1, vol. 1, pp 73\u201380 (2000)","DOI":"10.1109\/ROBOT.2000.844042"},{"key":"408_CR9","doi-asserted-by":"crossref","DOI":"10.1002\/0471221279","volume-title":"Estimation with Applications to Tracking and Navigation","author":"Y Bar-Shalom","year":"2002","unstructured":"Bar-Shalom, Y., Kirubarajan, T., Li, X.R.: Estimation with Applications to Tracking and Navigation. John Wiley & Sons, Inc., New York (2002)"},{"issue":"7","key":"408_CR10","doi-asserted-by":"crossref","first-page":"1306","DOI":"10.1109\/JPROC.2006.876930","volume":"94","author":"R Beard","year":"2006","unstructured":"Beard, R., McLain, T., Nelson, D., Kingston, D., Johanson, D.: Decentralized cooperative aerial surveillance using fixed-wing miniature uavs. Proc. IEEE 94(7), 1306\u20131324 (2006)","journal-title":"Proc. IEEE"},{"issue":"6","key":"408_CR11","doi-asserted-by":"crossref","first-page":"914","DOI":"10.1002\/rob.20401","volume":"28","author":"M Bernard","year":"2011","unstructured":"Bernard, M., Kondak, K., Maza, I., Ollero, A.: Autonomous transportation and deployment with aerial robots for search and rescue missions. J. Field Rob. 28(6), 914\u2013931 (2011)","journal-title":"J. Field Rob."},{"issue":"2","key":"408_CR12","doi-asserted-by":"crossref","first-page":"283","DOI":"10.1007\/s10846-010-9457-0","volume":"63","author":"L Carlone","year":"2011","unstructured":"Carlone, L., Kaouk Ng, M., Du, J., Bona, B., Indri, M.: Simultaneous localization and mapping using rao-blackwellized particle filters in multi robot systems. J. Intell. Robot. Syst. 63(2), 283\u2013307 (2011)","journal-title":"J. Intell. Robot. Syst."},{"key":"408_CR13","doi-asserted-by":"crossref","unstructured":"Cognetti, M., Stegagno, P., Franchi, A., Oriolo, G., Bulthoff, H.: 3-D Mutual Localization with Anonymous Bearing Measurements. In: Robotics and Automation (ICRA), 2012 IEEE International Conference On, pp 791\u2013798 (2012)","DOI":"10.1109\/ICRA.2012.6225288"},{"key":"408_CR14","doi-asserted-by":"crossref","unstructured":"De Silva, O., Mann, G., Gosine, R.: Development of a Relative Localization Scheme for Ground-Aerial Multi-Robot Systems. In: Intelligent Robots and Systems (IROS), 2012 IEEE\/RSJ International Conference On, pp 870\u2013875 (2012)","DOI":"10.1109\/IROS.2012.6386015"},{"issue":"4","key":"408_CR15","doi-asserted-by":"crossref","first-page":"577","DOI":"10.1016\/S0959-1524(01)00023-3","volume":"12","author":"M Diehl","year":"2002","unstructured":"Diehl, M., Bock, H., Schlder, J.P., Findeisen, R., Nagy, Z., Allgwer, F.: Real-time optimization and nonlinear model predictive control of processes governed by differential-algebraic equations. J. Process Control 12(4), 577\u2013585 (2002)","journal-title":"J. Process Control"},{"key":"408_CR16","doi-asserted-by":"crossref","unstructured":"Dunbar, W., Murray, R.: Model Predictive Control of Coordinated Multi-Vehicle Formations. In: Decision and Control, 2002, Proceedings of the 41St IEEE Conference On. 4, vol. 4, pp 4631\u20134636 (2002)","DOI":"10.1109\/CDC.2002.1185108"},{"key":"408_CR17","doi-asserted-by":"crossref","unstructured":"Fenwick, J., Newman, P., Leonard, J.: Cooperative Concurrent Mapping and Localization. In: Robotics and Automation, 2002. Proceedings. ICRA \u201902. IEEE International Conference On, vol. 2, pp 1810\u20131817 (2002)","DOI":"10.1109\/ROBOT.2002.1014804"},{"key":"408_CR18","doi-asserted-by":"crossref","unstructured":"Ferreau, H., Kraus, T., Vukov, M., Saeys, W., Diehl, M.: High-Speed Moving Horizon Estimation Based on Automatic Code Generation. In: Decision and Control (CDC), 2012 IEEE 51St Annual Conference On, pp 687\u2013692 (2012)","DOI":"10.1109\/CDC.2012.6426428"},{"key":"408_CR19","doi-asserted-by":"crossref","DOI":"10.1007\/978-0-85729-501-9","volume-title":"Nonlinear Model Predictive Control: Theory and Algorithms. Communications and Control Engineering","author":"L Gr\u00fcne","year":"2011","unstructured":"Gr\u00fcne, L., Pannek, J.: Nonlinear Model Predictive Control: Theory and Algorithms. Communications and Control Engineering. Springer, Heidelberg (2011)"},{"key":"408_CR20","doi-asserted-by":"crossref","first-page":"905","DOI":"10.1017\/S0263574708005316","volume":"27","author":"D Gu","year":"2009","unstructured":"Gu, D., Hu, H.: A model predictive controller for robots to follow a virtual leader. Robotica 27, 905\u2013913 (2009)","journal-title":"Robotica"},{"key":"408_CR21","doi-asserted-by":"crossref","unstructured":"Hazon, N., Mieli, F., Kaminka, G.: Towards Robust On-Line Multi-Robot Coverage. In: Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference On, pp 1710\u20131715 (2006)","DOI":"10.1109\/ROBOT.2006.1641953"},{"issue":"3","key":"408_CR22","doi-asserted-by":"crossref","first-page":"298","DOI":"10.1002\/oca.939","volume":"32","author":"B Houska","year":"2011","unstructured":"Houska, B., Ferreau, H., Diehl, M.: ACADO Toolkit \u2013 An Open Source Framework for Automatic Control and Dynamic Optimization. Optim. Control Appl. Methods 32(3), 298\u2013312 (2011)","journal-title":"Optim. Control Appl. Methods"},{"issue":"10","key":"408_CR23","doi-asserted-by":"crossref","first-page":"2279","DOI":"10.1016\/j.automatica.2011.08.020","volume":"47","author":"B Houska","year":"2011","unstructured":"Houska, B., Ferreau, H.J., Diehl, M.: An auto-generated real-time iteration algorithm for nonlinear {MPC} in the microsecond range. Automatica 47(10), 2279\u20132285 (2011)","journal-title":"Automatica"},{"issue":"11-12","key":"408_CR24","doi-asserted-by":"crossref","first-page":"991","DOI":"10.1002\/rob.20222","volume":"24","author":"MA Hsieh","year":"2007","unstructured":"Hsieh, M.A., Cowley, A., Keller, J.F., Chaimowicz, L., Grocholsky, B., Kumar, V., Taylor, C.J., Endo, Y., Arkin, R.C., Jung, B., Wolf, D.F., Sukhatme, G.S., MacKenzie, D.C.: Adaptive teams of autonomous aerial and ground robots for situational awareness. J. Field Rob. 24(11-12), 991\u20131014 (2007)","journal-title":"J. Field Rob."},{"key":"408_CR25","doi-asserted-by":"crossref","unstructured":"Kanjanawanishkul, K.: Coordinated Path Following Control and Formation Control of Mobile Robots. Ph.D. thesis, University of T\u00fcbingen (2010)","DOI":"10.1007\/978-3-642-10284-4_24"},{"issue":"8","key":"408_CR26","doi-asserted-by":"crossref","first-page":"926","DOI":"10.1016\/j.mechatronics.2014.03.007","volume":"24","author":"E Kayacan","year":"2014","unstructured":"Kayacan, E., Kayacan, E., Ramon, H., Saeys, W.: Distributed nonlinear model predictive control of an autonomous tractortrailer system. Mechatronics 24(8), 926\u2013933 (2014)","journal-title":"Mechatronics"},{"issue":"1","key":"408_CR27","doi-asserted-by":"crossref","first-page":"197","DOI":"10.1109\/TCST.2014.2321514","volume":"23","author":"E Kayacan","year":"2015","unstructured":"Kayacan, E., Kayacan, E., Ramon, H., Saeys, W.: Learning in centralized nonlinear model predictive control: Application to an autonomous tractor-trailer system. IEEE Trans. Control Syst. Technol. 23(1), 197\u2013205 (2015)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"1","key":"408_CR28","doi-asserted-by":"crossref","first-page":"447","DOI":"10.1109\/TMECH.2014.2334612","volume":"20","author":"E Kayacan","year":"2015","unstructured":"Kayacan, E., Kayacan, E., Ramon, H., Saeys, W.: Robust tube-based decentralized nonlinear model predictive control of an autonomous tractor-trailer system. IEEE\/ASME Trans. Mechatron. 20(1), 447\u2013456 (2015)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"issue":"6","key":"408_CR29","doi-asserted-by":"crossref","first-page":"1394","DOI":"10.1109\/TRO.2008.2007935","volume":"24","author":"D Kingston","year":"2008","unstructured":"Kingston, D., Beard, R., Holt, R.: Decentralized perimeter surveillance using a team of uavs. IEEE Trans. Robot. 24(6), 1394\u20131404 (2008)","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"408_CR30","doi-asserted-by":"crossref","first-page":"387","DOI":"10.1023\/A:1008814708459","volume":"4","author":"M Lewis","year":"1997","unstructured":"Lewis, M., Tan, K.H.: High precision formation control of mobile robots using virtual structures. Auton. Robot. 4(4), 387\u2013403 (1997)","journal-title":"Auton. Robot."},{"key":"408_CR31","doi-asserted-by":"crossref","unstructured":"Li, X., Xiao, J., Cai, Z.: Backstepping Based Multiple Mobile Robots Formation Control. In: Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE\/RSJ International Conference On, pp 887\u2013892 (2005)","DOI":"10.1109\/IROS.2005.1545161"},{"key":"408_CR32","doi-asserted-by":"crossref","unstructured":"Mariottini, G., Morbidi, F., Prattichizzo, D., Pappas, G., Daniilidis, K.: Leader-Follower Formations: Uncalibrated Vision-Based Localization and Control. In: Robotics and Automation, 2007 IEEE International Conference On, pp 2403\u20132408 (2007)","DOI":"10.1109\/ROBOT.2007.363679"},{"key":"408_CR33","doi-asserted-by":"crossref","unstructured":"Maza, I., Ollero, A.: Multiple Uav Cooperative Searching Operation Using Polygon Area Decomposition and Efficient Coverage Algorithms. In: Alami, R., Chatila, R., Asama, H. (eds.) Distributed Autonomous Robotic Systems 6. Birkhuser Basel, pp 221\u2013230 (2007)","DOI":"10.1007\/978-4-431-35873-2_22"},{"key":"408_CR34","doi-asserted-by":"crossref","unstructured":"Mehrez, M.W., Mann, G.K., Gosine, R.G.: Stabilizing Nmpc of Wheeled Mobile Robots Using Open-Source Real-Time Software. In: Advanced Robotics (ICAR), 2013 16Th International Conference On, pp 1\u20136 (2013)","DOI":"10.1109\/ICAR.2013.6766536"},{"key":"408_CR35","doi-asserted-by":"crossref","unstructured":"Mehrez, M.W., Mann, G.K., Gosine, R.G.: Formation Stabilization of Nonholonomic Robots Using Nonlinear Model Predictive Control. In: Electrical and Computer Engineering (CCECE), 2014 IEEE 27Th Canadian Conference On, pp 1\u20136 (2014)","DOI":"10.1109\/CCECE.2014.6901011"},{"key":"408_CR36","doi-asserted-by":"crossref","unstructured":"Mehrez, M.W., Mann, G.K., Gosine, R.G.: Nonlinear Moving Horizon State Estimation for Multi-Robot Relative Localization. In: Electrical and Computer Engineering (CCECE), 2014 IEEE 27Th Canadian Conference On, pp 1\u20135 (2014)","DOI":"10.1109\/CCECE.2014.6901134"},{"issue":"12","key":"408_CR37","doi-asserted-by":"crossref","first-page":"1502","DOI":"10.1016\/j.robot.2013.07.005","volume":"61","author":"TP Nascimento","year":"2013","unstructured":"Nascimento, T.P., Moreira, A.P., Conceio, A.G.S.: Multi-robot nonlinear model predictive formation control: Moving target and target absence. Robot. Auton. Syst. 61(12), 1502\u20131515 (2013)","journal-title":"Robot. Auton. Syst."},{"key":"408_CR38","doi-asserted-by":"crossref","unstructured":"Pathiranage, C., Watanabe, K., Jayasekara, B., Izumi, K.: Simultaneous Localization and Mapping: a Pseudolinear Kalman Filter (Plkf) Approach. In: Information and Automation for Sustainability, 2008. ICIAFS 2008. 4Th International Conference On, pp 61\u201366 (2008)","DOI":"10.1109\/ICIAFS.2008.4783921"},{"key":"408_CR39","doi-asserted-by":"crossref","unstructured":"Rao, C., Rawlings, J.: Nonlinear Moving Horizon State Estimation. In: Allg?wer, F., Zheng, A. (eds.) Nonlinear Model Predictive Control, Progress in Systems and Control Theory, vol. 26, pp 45\u201369. Birkhuser Basel (2000)","DOI":"10.1007\/978-3-0348-8407-5_3"},{"issue":"1012","key":"408_CR40","doi-asserted-by":"crossref","first-page":"1529","DOI":"10.1016\/j.compchemeng.2006.05.031","volume":"30","author":"JB Rawlings","year":"2006","unstructured":"Rawlings, J.B., Bakshi, B.R.: Particle filtering and moving horizon estimation. Comput. Chem. Eng. 30(1012), 1529\u20131541 (2006)","journal-title":"Comput. Chem. Eng."},{"key":"408_CR41","doi-asserted-by":"crossref","unstructured":"Rivard, F., Bisson, J., Michaud, F., Letourneau, D.: Ultrasonic Relative Positioning for Multi-Robot Systems. In: Robotics and Automation, 2008. ICRA 2008. IEEE International Conference On, pp 323\u2013328 (2008)","DOI":"10.1109\/ROBOT.2008.4543228"},{"issue":"67","key":"408_CR42","doi-asserted-by":"crossref","first-page":"749","DOI":"10.1016\/j.robot.2008.10.021","volume":"57","author":"M Saffarian","year":"2009","unstructured":"Saffarian, M., Fahimi, F.: Non-iterative nonlinear model predictive approach applied to the control of helicopters group formation. Robot. Auton. Syst. 57(67), 749\u2013757 (2009)","journal-title":"Robot. Auton. Syst."},{"key":"408_CR43","doi-asserted-by":"crossref","unstructured":"Sanchez, J., Fierro, R.: Sliding Mode Control for Robot Formations. In: Intelligent Control. 2003 IEEE International Symposium On, pp 438\u2013443 (2003)","DOI":"10.1109\/ISIC.2003.1254675"},{"issue":"3","key":"408_CR44","doi-asserted-by":"crossref","first-page":"1716","DOI":"10.1109\/JSEN.2014.2364684","volume":"15","author":"OD Silva","year":"2015","unstructured":"Silva, O.D., Mann, G.K.I., Gosine, R.G.: An ultrasonic and vision-based relative positioning sensor for multirobot localization. IEEE Sensors J. 15(3), 1716\u20131726 (2015)","journal-title":"IEEE Sensors J."},{"key":"408_CR45","unstructured":"Thrun, S., Burgard, W., Fox, D.: Probabilistic robotics (intelligent robotics and autonomous agents) the MIT press (2005)"},{"issue":"2","key":"408_CR46","doi-asserted-by":"crossref","first-page":"226","DOI":"10.1109\/TRO.2010.2042539","volume":"26","author":"N Trawny","year":"2010","unstructured":"Trawny, N., Zhou, X., Zhou, K., Roumeliotis, S.: Interrobot transformations in 3-d. IEEE Trans. Robot. 26(2), 226\u2013243 (2010)","journal-title":"IEEE Trans. Robot."},{"key":"408_CR47","doi-asserted-by":"crossref","unstructured":"Vukov, M., Van Loock, W., Houska, B., Ferreau, H., Swevers, J., Diehl, M.: Experimental Validation of Nonlinear Mpc on an Overhead Crane Using Automatic Code Generation. In: American Control Conference (ACC), 2012, pp 6264\u20136269 (2012)","DOI":"10.1109\/ACC.2012.6315390"},{"issue":"1","key":"408_CR48","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1007\/s10846-014-0094-x","volume":"77","author":"T Wanasinghe","year":"2015","unstructured":"Wanasinghe, T., Mann, I.G., Gosine, R.: Relative localization approach for combined aerial and ground robotic system. J. Intell. Robot. Syst. 77(1), 113\u2013133 (2015)","journal-title":"J. Intell. Robot. Syst."},{"key":"408_CR49","doi-asserted-by":"crossref","unstructured":"Wanasinghe, T., Mann, G., Gosine, R.: Pseudo-Linear Measurement Approach for Heterogeneous Multi-Robot Relative Localization. In: Advanced Robotics (ICAR), 2013 16Th International Conference On, pp 1\u20136 (2013)","DOI":"10.1109\/ICAR.2013.6766521"},{"issue":"3","key":"408_CR50","doi-asserted-by":"crossref","first-page":"795","DOI":"10.1109\/TASE.2015.2433014","volume":"12","author":"T Wanasinghe","year":"2015","unstructured":"Wanasinghe, T., Mann, G., Gosine, R.: Distributed leader-assistive localization method for a heterogeneous multirobotic system. IEEE Trans. Autom. Sci. Eng. 12(3), 795\u2013809 (2015)","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"issue":"10","key":"408_CR51","doi-asserted-by":"crossref","first-page":"1581","DOI":"10.1016\/j.robot.2014.05.004","volume":"62","author":"S Wang","year":"2014","unstructured":"Wang, S., Chen, L., Gu, D., Hu, H.: An optimization based moving horizon estimation with application to localization of autonomous underwater vehicles. Robot. Auton. Syst. 62(10), 1581\u20131596 (2014)","journal-title":"Robot. Auton. Syst."},{"key":"408_CR52","unstructured":"Worthmann, K., Mehrez, M.W., Zanon, M., Mann, G.K., Gosine, R.G., Diehl, M.: Regulation of Differential Drive Robots Using Continuous Time Mpc without Stabilizing Constraints Or Costs. In: Proceedings of the 5Th IFAC Conference on Nonlinear Model Predictive Control (NPMC15), Sevilla, Spain, pp 129\u2013135 (2015)"},{"issue":"4","key":"408_CR53","doi-asserted-by":"crossref","first-page":"1394","DOI":"10.1109\/TCST.2015.2488589","volume":"24","author":"K Worthmann","year":"2016","unstructured":"Worthmann, K., Mehrez, M.W., Zanon, M., Mann, G.K.I., Gosine, R.G., Diehl, M.: Model predictive control of nonholonomic mobile robots without stabilizing constraints and costs. IEEE Trans. Control Syst. Technol. 24(4), 1394\u20131406 (2016)","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"408_CR54","doi-asserted-by":"crossref","unstructured":"Xingxi, S., Tiesheng, W., Bo, H., Chunxia, Z.: Cooperative Multi-Robot Localization Based on Distributed Ukf. In: Computer Science and Information Technology (ICCSIT), 2010 3Rd IEEE International Conference On, vol. 6, pp 590\u2013593 (2010)","DOI":"10.1109\/ICCSIT.2010.5563860"},{"key":"408_CR55","unstructured":"Zanon, M., Frasch, J., Diehl, M.: Nonlinear Moving Horizon Estimation for Combined State and Friction Coefficient Estimation in Autonomous Driving. In: Control Conference (ECC), 2013 European, pp 4130\u20134135 (2013)"},{"key":"408_CR56","unstructured":"Zanon, M., Gros, S., Diehl, M.: Rotational Start-Up of Tethered Airplanes Based on Nonlinear Mpc and Mhe. In: Control Conference (ECC), 2013 European, pp 1023\u20131028 (2013)"},{"key":"408_CR57","doi-asserted-by":"crossref","unstructured":"Zanon, M., Horn, G., Gros, S., Diehl, M.: Control of Dual-Airfoil Airborne Wind Energy Systems Based on Nonlinear Mpc and Mhe. In: Control Conference (ECC), 2014 European, pp 1801\u20131806 (2014)","DOI":"10.1109\/ECC.2014.6862238"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0408-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-016-0408-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0408-2","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0408-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,4]],"date-time":"2025-06-04T17:35:42Z","timestamp":1749058542000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-016-0408-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,8,12]]},"references-count":57,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2017,2]]}},"alternative-id":["408"],"URL":"https:\/\/doi.org\/10.1007\/s10846-016-0408-2","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,8,12]]}}}