{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,12]],"date-time":"2026-02-12T09:48:17Z","timestamp":1770889697100,"version":"3.50.1"},"reference-count":59,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2020,7,22]],"date-time":"2020-07-22T00:00:00Z","timestamp":1595376000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,7,22]],"date-time":"2020-07-22T00:00:00Z","timestamp":1595376000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001866","name":"Fonds National de la Recherche Luxembourg","doi-asserted-by":"publisher","award":["C15\/15\/10484117"],"award-info":[{"award-number":["C15\/15\/10484117"]}],"id":[{"id":"10.13039\/501100001866","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001866","name":"Fonds National de la Recherche Luxembourg","doi-asserted-by":"publisher","award":["PoC16\/11565377"],"award-info":[{"award-number":["PoC16\/11565377"]}],"id":[{"id":"10.13039\/501100001866","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":[[2020,11]]},"DOI":"10.1007\/s10846-020-01203-2","type":"journal-article","created":{"date-parts":[[2020,7,22]],"date-time":"2020-07-22T08:09:31Z","timestamp":1595405371000},"page":"531-574","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Trajectory Tracking for Aerial Robots: an Optimization-Based Planning and Control Approach"],"prefix":"10.1007","volume":"100","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5018-0925","authenticated-orcid":false,"given":"Jose Luis","family":"Sanchez-Lopez","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8526-4184","authenticated-orcid":false,"given":"Manuel","family":"Castillo-Lopez","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8824-3231","authenticated-orcid":false,"given":"Miguel A.","family":"Olivares-Mendez","sequence":"additional","affiliation":[]},{"given":"Holger","family":"Voos","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2020,7,22]]},"reference":[{"key":"1203_CR1","doi-asserted-by":"publisher","unstructured":"Achtelik, M.W., Lynen, S., Chli, M., Siegwart, R.: Inversion Based Direct Position Control and Trajectory Following for Micro Aerial Vehicles. In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2933\u20132939 (2013), https:\/\/doi.org\/10.1109\/IROS.2013.CR1","DOI":"10.1109\/IROS.2013.CR1"},{"key":"1203_CR2","doi-asserted-by":"crossref","unstructured":"Achtelik, M.W., Lynen, S., Chli, M., Siegwart, R.: Inversion Based Direct Position Control and Trajectory Following for Micro Aerial Vehicles. In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2933\u20132939. IEEE (2013)","DOI":"10.1109\/IROS.2013.6696772"},{"issue":"8","key":"1203_CR3","doi-asserted-by":"publisher","first-page":"1362","DOI":"10.1109\/TAC.2007.902731","volume":"52","author":"AP Aguiar","year":"2007","unstructured":"Aguiar, A.P., Hespanha, J.P.: Trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty. IEEE Trans. Autom. Control 52(8), 1362\u20131379 (2007). https:\/\/doi.org\/10.1109\/TAC.2007.902731","journal-title":"IEEE Trans. Autom. Control"},{"issue":"1","key":"1203_CR4","doi-asserted-by":"publisher","first-page":"87","DOI":"10.1007\/s10846-014-0143-5","volume":"80","author":"J Alvarenga","year":"2015","unstructured":"Alvarenga, J., Vitzilaios, N.I., Valavanis, K.P., Rutherford, M.J.: Survey of unmanned helicopter model-based navigation and control techniques. J. Intell. Robot. Syst. 80(1), 87\u2013138 (2015). https:\/\/doi.org\/10.1007\/s10846-014-0143-5","journal-title":"J. Intell. Robot. Syst."},{"key":"1203_CR5","doi-asserted-by":"publisher","unstructured":"Beul, M., Behnke, S.: Analytical Time-Optimal Trajectory Generation and Control for Multirotors. In: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 87\u201396 (2016), https:\/\/doi.org\/10.1109\/ICUAS.2016.7502532","DOI":"10.1109\/ICUAS.2016.7502532"},{"key":"1203_CR6","doi-asserted-by":"crossref","unstructured":"Beul, M., Behnke, S.: Fast Full State Trajectory Generation for Multirotors. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 408\u2013416 (2017), 10.1109\/ICUAS.2017.7991304","DOI":"10.1109\/ICUAS.2017.7991304"},{"key":"1203_CR7","doi-asserted-by":"publisher","unstructured":"Boeuf, A., Cort\u00e9s, J., Alami, R., Sim\u00e9on, T.: Planning Agile Motions for Quadrotors in Constrained Environments. In: 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 218\u2013223 (2014), https:\/\/doi.org\/10.1109\/IROS.2014.6942564","DOI":"10.1109\/IROS.2014.6942564"},{"issue":"3","key":"1203_CR8","doi-asserted-by":"publisher","first-page":"555","DOI":"10.1109\/TRO.2018.2813373","volume":"34","author":"D Brescianini","year":"2018","unstructured":"Brescianini, D., D\u2019Andrea, R.: Computationally efficient trajectory generation for fully actuated multirotor vehicles. IEEE Trans. Robot. 34(3), 555\u2013571 (2018). https:\/\/doi.org\/10.1109\/TRO.2018.2813373","journal-title":"IEEE Trans. Robot."},{"key":"1203_CR9","first-page":"245","volume-title":"UBRISTES: UAV-Based Building Rehabilitation with Visible and Thermal Infrared Remote Sensing","author":"A Carrio","year":"2016","unstructured":"Carrio, A., Pestana, J., Sanchez-Lopez, J.L., Suarez-Fernandez, R., Campoy, P., Tendero, R., Garc\u00eda-De-Viedma, M., Gonz\u00e1lez-Rodrigo, B., Bonatti, J., Rejas-Ayuga, J.G., Mart\u00ednez-Mar\u00edn, R., Marchamalo-Sacrist\u00e1n, M.: UBRISTES: UAV-Based Building Rehabilitation with Visible and Thermal Infrared Remote Sensing, pp 245\u2013256. Springer International Publishing, Cham (2016)"},{"key":"1203_CR10","doi-asserted-by":"crossref","unstructured":"Castillo-Lopez, M., Olivares-Mendez, M.A., Voos, H.: Evasive Maneuvering for Uavs: an Mpc Approach. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds.) ROBOT 2017: Third Iberian Robotics Conference, pp 829\u2013840. Springer International Publishing, Cham (2018)","DOI":"10.1007\/978-3-319-70833-1_67"},{"key":"1203_CR11","doi-asserted-by":"publisher","unstructured":"Chen, H., Wang, X., Li, Y.: A Survey of Autonomous Control for Uav. In: 2009 International Conference on Artificial Intelligence and Computational Intelligence, vol. 2, pp. 267\u2013271 (2009), https:\/\/doi.org\/10.1109\/AICI.2009.147","DOI":"10.1109\/AICI.2009.147"},{"key":"1203_CR12","doi-asserted-by":"publisher","unstructured":"Consolini, L., Locatelli, M., Minari, A., Piazzi, A.: An optimal complexity algorithm for minimum-time velocity planning. http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0167691117300245, vol. 103, pp 50\u201357 (2017), https:\/\/doi.org\/10.1016\/j.sysconle.2017.02.001","DOI":"10.1016\/j.sysconle.2017.02.001"},{"key":"1203_CR13","unstructured":"Diebel, J.: Representing attitude: Euler angles, unit quaternions and rotation vectors (2006)"},{"key":"1203_CR14","doi-asserted-by":"crossref","unstructured":"Diehl, M., Ferreau, H.J., Haverbeke, N.: Efficient Numerical Methods for Nonlinear Mpc and Moving Horizon Estimation. In: Nonlinear Model Predictive Control, pp. 391\u2013417. Springer (2009)","DOI":"10.1007\/978-3-642-01094-1_32"},{"key":"1203_CR15","doi-asserted-by":"crossref","unstructured":"collab=Dvo\u0159\u00e1k, J., de Lellis, M., Hur\u00e1k, Z.: Advanced Control of Quadrotor Using Eigenaxis Rotation. In: 2011 IEEE International Conference on Control Applications (CCA), pp. 153\u2013158. IEEE (2011)","DOI":"10.1109\/CCA.2011.6044355"},{"issue":"6","key":"1203_CR16","doi-asserted-by":"publisher","first-page":"898","DOI":"10.1177\/0278364913517148","volume":"33","author":"B Ezair","year":"2014","unstructured":"Ezair, B., Tassa, T., Shiller, Z.: Planning high order trajectories with general initial and final conditions and asymmetric bounds. Int. J. Robot. Res. 33(6), 898\u2013916 (2014). https:\/\/doi.org\/10.1177\/0278364913517148","journal-title":"Int. J. Robot. Res."},{"issue":"2","key":"1203_CR17","doi-asserted-by":"publisher","first-page":"620","DOI":"10.1109\/LRA.2017.2776353","volume":"3","author":"M Faessler","year":"2018","unstructured":"Faessler, M., Franchi, A., Scaramuzza, D.: Differential flatness of quadrotor dynamics subject to rotor drag for accurate tracking of high-speed trajectories. IEEE Robot. Autom. Letters 3(2), 620\u2013626 (2018). https:\/\/doi.org\/10.1109\/LRA.2017.2776353","journal-title":"IEEE Robot. Autom. Letters"},{"key":"1203_CR18","doi-asserted-by":"crossref","unstructured":"Falanga, D., Foehn, P., Lu, P., Scaramuzza, D.: Pampc: Perception-aware Model Predictive Control for Quadrotors. In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1\u20138. IEEE (2018)","DOI":"10.1109\/IROS.2018.8593739"},{"issue":"1","key":"1203_CR19","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1007\/s10846-009-9383-1","volume":"57","author":"C Goerzen","year":"2009","unstructured":"Goerzen, C., Kong, Z., Mettler, B.: A survey of motion planning algorithms from the perspective of autonomous uav guidance. J. Intell. Robot. Syst. 57(1), 65 (2009). 10.1007\/s10846-009-9383-1","journal-title":"J. Intell. Robot. Syst."},{"key":"1203_CR20","doi-asserted-by":"crossref","unstructured":"Hamilton, W.R. In: Hamilton, W.E. (ed.) : Elements of Quaternions. Cambridge University Press, Cambridge (2010)","DOI":"10.1017\/CBO9780511707162"},{"key":"1203_CR21","doi-asserted-by":"crossref","unstructured":"Haschke, R., Weitnauer, E., Ritter, H.: On-Line Planning of Time-Optimal, Jerk-Limited Trajectories. In: 2008 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 3248\u20133253 (2008), 10.1109\/IROS.2008.4650924","DOI":"10.1109\/IROS.2008.4650924"},{"key":"1203_CR22","doi-asserted-by":"publisher","unstructured":"Hauser, K., Ng-Thow-Hing, V.: Fast Smoothing of Manipulator Trajectories Using Optimal Bounded-Acceleration Shortcuts. In: 2010 IEEE International Conference on Robotics and Automation, pp. 2493\u20132498 (2010), https:\/\/doi.org\/10.1109\/ROBOT.2010.5509683","DOI":"10.1109\/ROBOT.2010.5509683"},{"issue":"4","key":"1203_CR23","doi-asserted-by":"publisher","first-page":"856","DOI":"10.1109\/TRO.2018.2853613","volume":"34","author":"W H\u00f6nig","year":"2018","unstructured":"H\u00f6nig, W., Preiss, J.A., Kumar, T.K.S., Sukhatme, G.S., Ayanian, N.: Trajectory planning for quadrotor swarms. IEEE Trans. Robot. 34(4), 856\u2013869 (2018). https:\/\/doi.org\/10.1109\/TRO.2018.2853613","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"1203_CR24","doi-asserted-by":"publisher","first-page":"629","DOI":"10.1364\/JOSAA.4.000629","volume":"4","author":"BK Horn","year":"1987","unstructured":"Horn, B.K.: Closed-form solution of absolute orientation using unit quaternions. Josa a 4(4), 629\u2013642 (1987)","journal-title":"Josa a"},{"key":"1203_CR25","doi-asserted-by":"crossref","unstructured":"Houska, B., et al.: ACADO Toolkit \u2013 an open source framework for automatic control and dynamic optimization optimal control applications and methods (2011)","DOI":"10.1002\/oca.939"},{"key":"1203_CR26","doi-asserted-by":"crossref","unstructured":"Judd, K.B., McLain, T.W.: Spline Based Path Planning for Unmanned Air Vehicles. In: AIAA Guidance, Navigation, and Control Conference and Exhibit, vol. 9. Montreal, Canada (2001)","DOI":"10.2514\/6.2001-4238"},{"key":"1203_CR27","doi-asserted-by":"crossref","unstructured":"Jung, D., Tsiotras, P.: On-Line Path Generation for Small Unmanned Aerial Vehicles Using B-Spline Path Templates. In: AIAA Guidance, Navigation and Control Conference, IEEE, vol. 7135 (2008)","DOI":"10.2514\/6.2008-7135"},{"key":"1203_CR28","doi-asserted-by":"crossref","unstructured":"Kamel, M., Alexis, K., Achtelik, M., Siegwart, R.: Fast Nonlinear Model Predictive Control for Multicopter Attitude Tracking on So (3). In: 2015 IEEE Conference on Control Applications (CCA), pp. 1160\u20131166. IEEE (2015)","DOI":"10.1109\/CCA.2015.7320769"},{"issue":"1","key":"1203_CR29","doi-asserted-by":"publisher","first-page":"3463","DOI":"10.1016\/j.ifacol.2017.08.849","volume":"50","author":"M Kamel","year":"2017","unstructured":"Kamel, M., Burri, M., Siegwart, R.: Linear vs nonlinear mpc for trajectory tracking applied to rotary wing micro aerial vehicles. IFAC-PapersOnLine 50(1), 3463\u20133469 (2017)","journal-title":"IFAC-PapersOnLine"},{"key":"1203_CR30","unstructured":"Kerrigan, E.C., Maciejowski, J.M.: Soft Constraints and Exact Penalty Functions in Model Predictive Control. In: Proc. UKACC International Conference (Control. Citeseer (2000)"},{"key":"1203_CR31","doi-asserted-by":"publisher","DOI":"10.1515\/9780691211701","volume-title":"Quaternions and rotation sequences, vol. 66","author":"JB Kuipers","year":"1999","unstructured":"Kuipers, J.B., et al.: Quaternions and rotation sequences, vol. 66. Princeton University Press, Princeton (1999)"},{"issue":"1","key":"1203_CR32","doi-asserted-by":"publisher","first-page":"281","DOI":"10.1007\/s12555-015-0289-3","volume":"15","author":"H Lee","year":"2017","unstructured":"Lee, H., Kim, H.J.: Trajectory tracking control of multirotors from modelling to experiments: A survey. Int. J. Control Autom. Syst. 15(1), 281\u2013292 (2017)","journal-title":"Int. J. Control Autom. Syst."},{"key":"1203_CR33","doi-asserted-by":"publisher","first-page":"231","DOI":"10.1016\/j.sysconle.2011.10.017","volume":"61","author":"T Lee","year":"2012","unstructured":"Lee, T.: Exponential stability of an attitude tracking control system on so(3) for large-angle rotational maneuvers. Syst. Control Letters 61, 231\u2013237 (2012). https:\/\/doi.org\/10.1016\/j.sysconle.2011.10.017. http:\/\/www.sciencedirect.com\/science\/article\/pii\/S0167691111002829","journal-title":"Syst. Control Letters"},{"key":"1203_CR34","doi-asserted-by":"crossref","unstructured":"Lee, T., Leoky, M., McClamroch, N.H.: Geometric Tracking Control of a Quadrotor Uav on Se (3). In: Decision and Control (CDC), 2010 49Th IEEE Conference On, pp. 5420\u20135425. IEEE (2010)","DOI":"10.1109\/CDC.2010.5717652"},{"key":"1203_CR35","doi-asserted-by":"publisher","unstructured":"Li, Y., Song, S.: A Survey of Control Algorithms for Quadrotor Unmanned Helicopter. In: 2012 IEEE Fifth International Conference on Advanced Computational Intelligence (ICACI), pp. 365\u2013369 (2012), https:\/\/doi.org\/10.1109\/ICACI.2012.6463187","DOI":"10.1109\/ICACI.2012.6463187"},{"issue":"1","key":"1203_CR36","doi-asserted-by":"publisher","first-page":"42","DOI":"10.1109\/TRA.2002.807548","volume":"19","author":"S Macfarlane","year":"2003","unstructured":"Macfarlane, S., Croft, E.A.: Jerk-bounded manipulator trajectory planning: design for real-time applications. IEEE Trans. Robot. Autom. 19(1), 42\u201352 (2003). https:\/\/doi.org\/10.1109\/TRA.2002.807548","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"2","key":"1203_CR37","doi-asserted-by":"publisher","first-page":"495","DOI":"10.1007\/s10846-016-0459-4","volume":"88","author":"SG Manyam","year":"2017","unstructured":"Manyam, S.G., Rathinam, S., Casbeer, D., Garcia, E.: Tightly bounding the shortest dubins paths through a sequence of points. J. Intell. Robot. Syst. 88(2), 495\u2013511 (2017). https:\/\/doi.org\/10.1007\/s10846-016-0459-4","journal-title":"J. Intell. Robot. Syst."},{"key":"1203_CR38","doi-asserted-by":"publisher","unstructured":"Mellinger, D., Kumar, V.: Minimum Snap Trajectory Generation and Control for Quadrotors. In: 2011 IEEE International Conference on Robotics and Automation, pp. 2520\u20132525 (2011), https:\/\/doi.org\/10.1109\/ICRA.2011.5980409","DOI":"10.1109\/ICRA.2011.5980409"},{"key":"1203_CR39","doi-asserted-by":"crossref","unstructured":"Mellinger, D., Kumar, V.: Minimum Snap Trajectory Generation and Control for Quadrotors. In: Robotics and Automation (ICRA), 2011 IEEE International Conference On, pp. 2520\u20132525. IEEE (2011)","DOI":"10.1109\/ICRA.2011.5980409"},{"key":"1203_CR40","doi-asserted-by":"publisher","unstructured":"Mohammed, F., Idries, A., Mohamed, N., Al-Jaroodi, J., Jawhar, I.: Uavs for Smart Cities: Opportunities and Challenges. In: Unmanned Aircraft Systems (ICUAS), 2014 International Conference On, pp. 267\u2013273 (2014), https:\/\/doi.org\/10.1109\/ICUAS.2014.6842265","DOI":"10.1109\/ICUAS.2014.6842265"},{"issue":"4-5","key":"1203_CR41","doi-asserted-by":"publisher","first-page":"667","DOI":"10.1016\/S0098-1354(98)00301-9","volume":"23","author":"M Morari","year":"1999","unstructured":"Morari, M., Lee, J.H.: Model predictive control: past, present and future. Comput. Chem. Eng. 23(4-5), 667\u2013682 (1999)","journal-title":"Comput. Chem. Eng."},{"key":"1203_CR42","doi-asserted-by":"crossref","unstructured":"Mueller, M.W., D\u2019Andrea, R.: A Model Predictive Controller for Quadrocopter State Interception. In: 2013 European Control Conference (ECC), pp. 1383\u20131389 (2013)","DOI":"10.23919\/ECC.2013.6669415"},{"key":"1203_CR43","doi-asserted-by":"publisher","unstructured":"Mueller, M.W., Hehn, M., D\u2019Andrea, R.: A Computationally Efficient Algorithm for State-To-State Quadrocopter Trajectory Generation and Feasibility Verification. In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 3480\u20133486 (2013), https:\/\/doi.org\/10.1109\/IROS.2013.6696852","DOI":"10.1109\/IROS.2013.6696852"},{"key":"1203_CR44","doi-asserted-by":"crossref","unstructured":"Neunert, M., De Crousaz, C., Furrer, F., Kamel, M., Farshidian, F., Siegwart, R., Buchli, J.: Fast Nonlinear Model Predictive Control for Unified Trajectory Optimization and Tracking. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 1398\u20131404. IEEE (2016)","DOI":"10.1109\/ICRA.2016.7487274"},{"key":"1203_CR45","unstructured":"Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: Ros: an Open-Source Robot Operating System. In: ICRA Workshop on Open Source Software, vol. 3, p. 5 (2009)"},{"key":"1203_CR46","first-page":"649","volume-title":"Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments","author":"C Richter","year":"2016","unstructured":"Richter, C., Bry, A., Roy, N.: Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments, pp 649\u2013666. Springer International Publishing, Cham (2016)"},{"issue":"1","key":"1203_CR47","doi-asserted-by":"publisher","first-page":"16,003","DOI":"10.1016\/j.ifacol.2017.08.1911","volume":"50","author":"JL Sanchez-Lopez","year":"2017","unstructured":"Sanchez-Lopez, J.L., Arellano-Quintana, V., Tognon, M., Campoy, P., Franchi, A.: Visual marker based multi-sensor fusion state estimation. IFAC-PapersOnLine 50(1), 16,003\u201316,008 (2017). https:\/\/doi.org\/10.1016\/j.ifacol.2017.08.1911. 20th IFAC World Congress","journal-title":"IFAC-PapersOnLine"},{"key":"1203_CR48","doi-asserted-by":"publisher","unstructured":"Sanchez-Lopez, J.L., Fern\u00e1ndez, R. A. S., Bavle, H., Sampedro, C., Molina, M., Pestana, J., Campoy, P.: Aerostack: an Architecture and Open-Source Software Framework for Aerial Robotics. In: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 332\u2013341 (2016), https:\/\/doi.org\/10.1109\/ICUAS.2016.7502591","DOI":"10.1109\/ICUAS.2016.7502591"},{"key":"1203_CR49","doi-asserted-by":"crossref","unstructured":"Sanchez-Lopez, J.L., Molina, M., Bavle, H., Sampedro, C., Su\u00e1rez Fern\u00e1ndez, R. A., Campoy, P.: A multi-layered component-based approach for the development of aerial robotic systems: the aerostack framework. J. Intell. Robot. Syst., 1\u201327 (2017)","DOI":"10.1007\/s10846-017-0551-4"},{"key":"1203_CR50","doi-asserted-by":"publisher","unstructured":"Sanchez-Lopez, J.L., Olivares-Mendez, M.A., Castillo-Lopez, M., Voos, H.: Towards Trajectory Planning from a Given Path for Multirotor Aerial Robots Trajectory Tracking. In: 2018 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 1342\u20131351 (2018), https:\/\/doi.org\/10.1109\/ICUAS.2018.8453428","DOI":"10.1109\/ICUAS.2018.8453428"},{"key":"1203_CR51","doi-asserted-by":"publisher","unstructured":"Sanchez-Lopez, J.L., Pestana, J., Campoy, P.: A Robust Real-Time Path Planner for the Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environments. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp 316\u2013325 (2017), https:\/\/doi.org\/10.1109\/ICUAS.2017.7991354","DOI":"10.1109\/ICUAS.2017.7991354"},{"issue":"1","key":"1203_CR52","doi-asserted-by":"publisher","first-page":"33","DOI":"10.1007\/s10846-018-0809-5","volume":"93","author":"JL Sanchez-Lopez","year":"2019","unstructured":"Sanchez-Lopez, J.L., Wang, M., Olivares-Mendez, M.A., Molina, M., Voos, H.: A real-time 3d path planning solution for collision-free navigation of multirotor aerial robots in dynamic environments. J. Intell. Robot. Syst. 93(1), 33\u201353 (2019). https:\/\/doi.org\/10.1007\/s10846-018-0809-5","journal-title":"J. Intell. Robot. Syst."},{"issue":"1","key":"1203_CR53","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1007\/s10846-018-0799-3","volume":"93","author":"MCP Santos","year":"2019","unstructured":"Santos, M.C.P., Rosales, C.D., Sarapura, J.A., Sarcinelli-Filho, M., Carelli, R.: An adaptive dynamic controller for quadrotor to perform trajectory tracking tasks. J. Intell. Robot. Syst. 93(1), 5\u201316 (2019). 10.1007\/s10846-018-0799-3","journal-title":"J. Intell. Robot. Syst."},{"key":"1203_CR54","unstructured":"Sola, J.: Quaternion kinematics for the error-state kalman filter. arXiv:1711.02508 (2017)"},{"issue":"9","key":"1203_CR55","doi-asserted-by":"publisher","first-page":"1062","DOI":"10.1177\/0278364917741532","volume":"37","author":"S Tang","year":"2018","unstructured":"Tang, S., Thomas, J., Kumar, V.: Hold or take optimal plan (hoop): a quadratic programming approach to multi-robot trajectory generation. Int. J. Robot. Res. 37(9), 1062\u20131084 (2018). https:\/\/doi.org\/10.1177\/0278364917741532","journal-title":"Int. J. Robot. Res."},{"key":"1203_CR56","doi-asserted-by":"crossref","unstructured":"Tayebi, A., McGilvray, S.: Attitude Stabilization of a Four-Rotor Aerial Robot. In: 2004 43Rd IEEE Conference on Decision and Control (CDC)(IEEE Cat. No. 04CH37601), vol. 2, pp 1216\u20131221. IEEE (2004)","DOI":"10.1109\/CDC.2004.1430207"},{"key":"1203_CR57","doi-asserted-by":"publisher","DOI":"10.1007\/978-90-481-9707-1","volume-title":"Handbook of unmanned aerial vehicles","author":"KP Valavanis","year":"2015","unstructured":"Valavanis, K.P., Vachtsevanos, G.J.: Handbook of unmanned aerial vehicles. Springer, Berlin (2015)"},{"issue":"3","key":"1203_CR58","doi-asserted-by":"publisher","first-page":"561","DOI":"10.1109\/TRO.2010.2042990","volume":"26","author":"K Yang","year":"2010","unstructured":"Yang, K., Sukkarieh, S.: An analytical continuous-curvature path-smoothing algorithm. IEEE Trans. Robot. 26(3), 561\u2013568 (2010). https:\/\/doi.org\/10.1109\/TRO.2010.2042990","journal-title":"IEEE Trans. Robot."},{"key":"1203_CR59","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1016\/0024-3795(95)00543-9","volume":"251","author":"F Zhang","year":"1997","unstructured":"Zhang, F.: Quaternions and matrices of quaternions. Linear Algebra Its Appl. 251, 21\u201357 (1997)","journal-title":"Linear Algebra Its Appl."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-020-01203-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-020-01203-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-020-01203-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,11,3]],"date-time":"2022-11-03T22:31:00Z","timestamp":1667514660000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-020-01203-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,7,22]]},"references-count":59,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2020,11]]}},"alternative-id":["1203"],"URL":"https:\/\/doi.org\/10.1007\/s10846-020-01203-2","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,7,22]]},"assertion":[{"value":"30 September 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"14 April 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"22 July 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}