{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,20]],"date-time":"2026-03-20T16:09:00Z","timestamp":1774022940666,"version":"3.50.1"},"reference-count":48,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T00:00:00Z","timestamp":1777593600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T00:00:00Z","timestamp":1777593600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,2,23]],"date-time":"2026-02-23T00:00:00Z","timestamp":1771804800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100010665","name":"H2020 Marie Sk\u0142odowska-Curie Actions","doi-asserted-by":"publisher","award":["101072559"],"award-info":[{"award-number":["101072559"]}],"id":[{"id":"10.13039\/100010665","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100012818","name":"Comunidad de Madrid","doi-asserted-by":"publisher","award":["PID2023-147790OB-I00"],"award-info":[{"award-number":["PID2023-147790OB-I00"]}],"id":[{"id":"10.13039\/100012818","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["2021-CoG-101043998"],"award-info":[{"award-number":["2021-CoG-101043998"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100008530","name":"European Regional Development Fund","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100008530","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100008433","name":"Comunidad de Madrid Consejer\u00eda de Educaci\u00f3n e Investigaci\u00f3n","doi-asserted-by":"publisher","award":["IND2024\/TIC-34540"],"award-info":[{"award-number":["IND2024\/TIC-34540"]}],"id":[{"id":"10.13039\/501100008433","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000780","name":"European Commission","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Engineering Applications of Artificial Intelligence"],"published-print":{"date-parts":[[2026,5]]},"DOI":"10.1016\/j.engappai.2026.114293","type":"journal-article","created":{"date-parts":[[2026,2,23]],"date-time":"2026-02-23T19:19:38Z","timestamp":1771874378000},"page":"114293","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["Transformer-based fault-tolerant control for fixed-wing aerial vehicles using offline reinforcement learning"],"prefix":"10.1016","volume":"171","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-8510-8278","authenticated-orcid":false,"given":"Francisco","family":"Giral","sequence":"first","affiliation":[]},{"given":"Ignacio","family":"Gomez","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6570-5499","authenticated-orcid":false,"given":"Ricardo","family":"Vinuesa","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3605-7351","authenticated-orcid":false,"given":"Soledad","family":"Le Clainche","sequence":"additional","affiliation":[]}],"member":"78","reference":[{"key":"10.1016\/j.engappai.2026.114293_b1","series-title":"Small Unmanned Aircraft: Theory and Practice","author":"Beard","year":"2012"},{"key":"10.1016\/j.engappai.2026.114293_b2","series-title":"Conference on Robot Learning","first-page":"1341","article-title":"Learning stability certificates from data","author":"Boffi","year":"2021"},{"key":"10.1016\/j.engappai.2026.114293_b3","series-title":"Proc. of the IEEE Int. Conference on Omni-Layer Intelligent Systems","first-page":"1","article-title":"A microcontroller is all you need: Enabling transformer execution on low-power IoT endnodes","author":"Burrello","year":"2021"},{"key":"10.1016\/j.engappai.2026.114293_b4","series-title":"Barkour: Benchmarking animal-level agility with quadruped robots","author":"Caluwaerts","year":"2023"},{"key":"10.1016\/j.engappai.2026.114293_b5","doi-asserted-by":"crossref","DOI":"10.1109\/TAC.2024.3405816","article-title":"Performance-based fault-tolerant control uniformly accommodating multiple levels of actuation failures","author":"Cao","year":"2024","journal-title":"IEEE Trans. Autom. Control"},{"issue":"4","key":"10.1016\/j.engappai.2026.114293_b6","doi-asserted-by":"crossref","first-page":"9620","DOI":"10.1109\/LRA.2022.3191855","article-title":"Trajectory planning for UAVs based on interfered fluid dynamical system and b\u00e9zier curves","volume":"7","author":"Celestini","year":"2022","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.engappai.2026.114293_b7","first-page":"15084","article-title":"Decision transformer: Reinforcement learning via sequence modeling","volume":"34","author":"Chen","year":"2021","journal-title":"Adv. Neural Inf. Process. Syst."},{"key":"10.1016\/j.engappai.2026.114293_b8","article-title":"TraKDis: A transformer-based knowledge distillation approach for visual reinforcement learning with application to cloth manipulation","author":"Chen","year":"2024","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.engappai.2026.114293_b9","series-title":"AIAA Scitech 2022 Forum","first-page":"2078","article-title":"Soft actor-critic deep reinforcement learning for fault tolerant flight control","author":"Dally","year":"2022"},{"key":"10.1016\/j.engappai.2026.114293_b10","series-title":"Safe control with learned certificates: A survey of neural Lyapunov, barrier, and contraction methods","author":"Dawson","year":"2022"},{"issue":"18","key":"10.1016\/j.engappai.2026.114293_b11","doi-asserted-by":"crossref","first-page":"17037","DOI":"10.1007\/s11071-023-08725-y","article-title":"A deep reinforcement learning control approach for high-performance aircraft","volume":"111","author":"De Marco","year":"2023","journal-title":"Nonlinear Dynam."},{"key":"10.1016\/j.engappai.2026.114293_b12","doi-asserted-by":"crossref","first-page":"3072","DOI":"10.1109\/LCSYS.2023.3291657","article-title":"Supervised learning of lyapunov functions using laplace averages of approximate koopman eigenfunctions","volume":"7","author":"Deka","year":"2023","journal-title":"IEEE Control. Syst. Lett."},{"key":"10.1016\/j.engappai.2026.114293_b13","series-title":"2020 20th International Conference on Control, Automation and Systems","first-page":"161","article-title":"Reinforcement learning based flight controller capable of controlling a quadcopter with four, three and two working motors","author":"Dooraki","year":"2020"},{"key":"10.1016\/j.engappai.2026.114293_b14","series-title":"2020 American Control Conference","first-page":"4169","article-title":"Active hybrid fault tolerant flight control of an UAV under control surface damage","author":"Erg\u00f6\u00e7men","year":"2020"},{"key":"10.1016\/j.engappai.2026.114293_b15","series-title":"2024 22nd International Conference on Research and Education in Mechatronics","first-page":"296","article-title":"Sliding mode active fault-tolerant control for nonlinear quadrotor UAV system in presence of actuator faults","author":"Ezzara","year":"2024"},{"issue":"5","key":"10.1016\/j.engappai.2026.114293_b16","doi-asserted-by":"crossref","first-page":"887","DOI":"10.2514\/1.G008112","article-title":"Evolutionary reinforcement learning: Hybrid approach for safety-informed fault-tolerant flight control","volume":"47","author":"Gavra","year":"2024","journal-title":"J. Guid. Control Dyn."},{"key":"10.1016\/j.engappai.2026.114293_b17","series-title":"Mastering diverse domains through world models","author":"Hafner","year":"2023"},{"issue":"4","key":"10.1016\/j.engappai.2026.114293_b18","doi-asserted-by":"crossref","first-page":"6217","DOI":"10.1109\/LRA.2020.3011351","article-title":"Actor-critic reinforcement learning for control with stability guarantee","volume":"5","author":"Han","year":"2020","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.engappai.2026.114293_b19","series-title":"Distilling the knowledge in a neural network","author":"Hinton","year":"2015"},{"key":"10.1016\/j.engappai.2026.114293_b20","series-title":"Offline reinforcement learning as one big sequence modeling problem","author":"Janner","year":"2021"},{"key":"10.1016\/j.engappai.2026.114293_b21","series-title":"Optimizing the deployment of tiny transformers on low-power MCUs","author":"Jung","year":"2024"},{"issue":"2","key":"10.1016\/j.engappai.2026.114293_b22","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3301273","article-title":"Reinforcement learning for UAV attitude control","volume":"3","author":"Koch","year":"2019","journal-title":"ACM Trans. Cyber-Physical Syst."},{"issue":"14","key":"10.1016\/j.engappai.2026.114293_b23","doi-asserted-by":"crossref","first-page":"10239","DOI":"10.1007\/s00521-023-08232-6","article-title":"Basic flight maneuver generation of fixed-wing plane based on proximal policy optimization","volume":"35","author":"Li","year":"2023","journal-title":"Neural Comput. Appl."},{"key":"10.1016\/j.engappai.2026.114293_b24","series-title":"Advances in Neural Information Processing Systems (NeurIPS)","article-title":"MCUFormer: Deploying vision transformers on microcontrollers with limited memory","author":"Liang","year":"2023"},{"issue":"4","key":"10.1016\/j.engappai.2026.114293_b25","doi-asserted-by":"crossref","first-page":"6001","DOI":"10.1109\/LRA.2020.3010730","article-title":"Nonlinear MPC for collision avoidance and control of UAVs with dynamic obstacles","volume":"5","author":"Lindqvist","year":"2020","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.engappai.2026.114293_b26","doi-asserted-by":"crossref","unstructured":"Liu, J., Meng, Y., Fitzsimmons, M., Zhou, R., 2024. Tool LyZNet: A lightweight Python tool for learning and verifying neural Lyapunov functions and regions of attraction. In: Proceedings of the 27th ACM International Conference on Hybrid Systems: Computation and Control. pp. 1\u20138.","DOI":"10.1145\/3641513.3650134"},{"key":"10.1016\/j.engappai.2026.114293_b27","doi-asserted-by":"crossref","DOI":"10.1109\/TII.2024.3438241","article-title":"Reinforcement learning-based fault-tolerant control for quadrotor UAVs under actuator fault","author":"Liu","year":"2024","journal-title":"IEEE Trans. Ind. Informatics"},{"key":"10.1016\/j.engappai.2026.114293_b28","first-page":"1","article-title":"Modeling and identification of a small fixed-wing UAV using estimated aerodynamic angles","author":"L\u00f8w-Hansen","year":"2025","journal-title":"CEAS Aeronaut. J."},{"issue":"1","key":"10.1016\/j.engappai.2026.114293_b29","doi-asserted-by":"crossref","first-page":"210","DOI":"10.1108\/AEAT-03-2016-0052","article-title":"Flight test of fault-tolerant flight control system using simple adaptive control with PID controller","volume":"90","author":"Matsuki","year":"2018","journal-title":"Aircr. Eng. Aerosp. Technol."},{"key":"10.1016\/j.engappai.2026.114293_b30","series-title":"2015 IEEE International Conference on Robotics and Automation","first-page":"6235","article-title":"PX4: A node-based multithreaded open source robotics framework","author":"Meier","year":"2015"},{"key":"10.1016\/j.engappai.2026.114293_b31","doi-asserted-by":"crossref","DOI":"10.1016\/j.ast.2020.106135","article-title":"Dynamics and adaptive fault-tolerant flight control under structure damage of horizontal stabilizer","volume":"106","author":"Miao","year":"2020","journal-title":"Aerosp. Sci. Technol."},{"key":"10.1016\/j.engappai.2026.114293_b32","series-title":"2014 IEEE International Conference on Robotics and Automation","first-page":"45","article-title":"Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers","author":"Mueller","year":"2014"},{"key":"10.1016\/j.engappai.2026.114293_b33","series-title":"Recurrent model-free rl can be a strong baseline for many pomdps","author":"Ni","year":"2021"},{"key":"10.1016\/j.engappai.2026.114293_b34","doi-asserted-by":"crossref","DOI":"10.1109\/LRA.2024.3389414","article-title":"Learning-based minimally-sensed fault-tolerant adaptive flight control","author":"O\u2019Connell","year":"2024","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.engappai.2026.114293_b35","series-title":"International Conference on Machine Learning","first-page":"7487","article-title":"Stabilizing transformers for reinforcement learning","author":"Parisotto","year":"2020"},{"issue":"89","key":"10.1016\/j.engappai.2026.114293_b36","doi-asserted-by":"crossref","first-page":"eadi9579","DOI":"10.1126\/scirobotics.adi9579","article-title":"Real-world humanoid locomotion with reinforcement learning","volume":"9","author":"Radosavovic","year":"2024","journal-title":"Sci. Robot."},{"key":"10.1016\/j.engappai.2026.114293_b37","series-title":"Aircraft Control and Simulation: Dynamics, Controls Design, and Autonomous Systems","isbn-type":"print","doi-asserted-by":"crossref","DOI":"10.1002\/9781119174882","author":"Stevens","year":"2015","ISBN":"https:\/\/id.crossref.org\/isbn\/9781118870983"},{"key":"10.1016\/j.engappai.2026.114293_b38","series-title":"Adaptive gain scheduling using reinforcement learning for quadcopter control","author":"Timmerman","year":"2024"},{"key":"10.1016\/j.engappai.2026.114293_b39","series-title":"Learning robot soccer from egocentric vision with deep reinforcement learning","author":"Tirumala","year":"2024"},{"key":"10.1016\/j.engappai.2026.114293_b40","series-title":"Navigation in a simplified urban flow through deep reinforcement learning","author":"Tonti","year":"2024"},{"key":"10.1016\/j.engappai.2026.114293_b41","article-title":"Attention is all you need","author":"Vaswani","year":"2017","journal-title":"Adv. Neural Inf. Process. Syst."},{"issue":"3","key":"10.1016\/j.engappai.2026.114293_b42","doi-asserted-by":"crossref","DOI":"10.1063\/5.0143913","article-title":"Recent advances in applying deep reinforcement learning for flow control: Perspectives and future directions","volume":"35","author":"Vignon","year":"2023","journal-title":"Phys. Fluids","ISSN":"https:\/\/id.crossref.org\/issn\/1089-7666","issn-type":"print"},{"key":"10.1016\/j.engappai.2026.114293_b43","series-title":"Proc. of IEEE\/ACM Int. Conference on Computer-Aided Design","article-title":"MCUBERT: Memory-efficient BERT inference on commodity microcontrollers","author":"Yang","year":"2024"},{"key":"10.1016\/j.engappai.2026.114293_b44","doi-asserted-by":"crossref","first-page":"121136","DOI":"10.1109\/ACCESS.2019.2933562","article-title":"Fault tolerant control for nonlinear singular stochastic distribution systems based on fuzzy modeling","volume":"7","author":"Yao","year":"2019","journal-title":"IEEE Access"},{"key":"10.1016\/j.engappai.2026.114293_b45","doi-asserted-by":"crossref","first-page":"409","DOI":"10.1109\/LCSYS.2021.3077861","article-title":"Imitation learning with stability and safety guarantees","volume":"6","author":"Yin","year":"2021","journal-title":"IEEE Control. Syst. Lett."},{"key":"10.1016\/j.engappai.2026.114293_b46","series-title":"International Conference on Machine Learning","first-page":"27042","article-title":"Online decision transformer","author":"Zheng","year":"2022"},{"key":"10.1016\/j.engappai.2026.114293_b47","first-page":"29113","article-title":"Neural Lyapunov control of unknown nonlinear systems with stability guarantees","volume":"35","author":"Zhou","year":"2022","journal-title":"Adv. Neural Inf. Process. Syst."},{"key":"10.1016\/j.engappai.2026.114293_b48","doi-asserted-by":"crossref","DOI":"10.1109\/TPAMI.2023.3292075","article-title":"Transfer learning in deep reinforcement learning: A survey","author":"Zhu","year":"2023","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."}],"container-title":["Engineering Applications of Artificial Intelligence"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0952197626005749?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0952197626005749?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,3,20]],"date-time":"2026-03-20T15:20:34Z","timestamp":1774020034000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0952197626005749"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,5]]},"references-count":48,"alternative-id":["S0952197626005749"],"URL":"https:\/\/doi.org\/10.1016\/j.engappai.2026.114293","relation":{},"ISSN":["0952-1976"],"issn-type":[{"value":"0952-1976","type":"print"}],"subject":[],"published":{"date-parts":[[2026,5]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Transformer-based fault-tolerant control for fixed-wing aerial vehicles using offline reinforcement learning","name":"articletitle","label":"Article Title"},{"value":"Engineering Applications of Artificial Intelligence","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.engappai.2026.114293","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 The Authors. Published by Elsevier Ltd.","name":"copyright","label":"Copyright"}],"article-number":"114293"}}