{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,10]],"date-time":"2026-01-10T02:33:53Z","timestamp":1768012433166,"version":"3.49.0"},"reference-count":20,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2001,10,1]],"date-time":"2001-10-01T00:00:00Z","timestamp":1001894400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2001,10]]},"abstract":"<jats:p> Unmanned small autonomous helicopters can perform aggressive maneuvers that will be useful for operations in challenging conditions. This paper presents an analysis of the pilot\u2019s execution of aggressive maneuvers from flight test data, collected on an instrumented small-scale acrobatic helicopter. A full-envelope nonlinear dynamic model of the helicopter was developed and validated for aggressive maneuvering. This model was used as part of the hardware-in-the-loop simulation environment to demonstrate intuitive control strategies that were determined from the analysis of flight data. This insight will be helpful in determining closed-loop strategies for autonomous aggressive maneuvering on MIT\u2019s platform. <\/jats:p>","DOI":"10.1177\/02783640122068100","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T05:53:44Z","timestamp":1058594024000},"page":"795-807","source":"Crossref","is-referenced-by-count":80,"title":["Aggressive Maneuvering of Small Autonomous Helicopters: A Human-Centered Approach"],"prefix":"10.1177","volume":"20","author":[{"given":"V.","family":"Gavrilets","sequence":"first","affiliation":[]},{"given":"E.","family":"Frazzoli","sequence":"additional","affiliation":[]},{"given":"B.","family":"Mettler","sequence":"additional","affiliation":[{"name":"Laboratory for Information and Decision Systems, Department of                         Aeronautics and Astronautics, MIT, Cambridge, MA 02139, USA"}]},{"given":"M.","family":"Piedmonte","sequence":"additional","affiliation":[{"name":"Dragonfly Pictures Inc., P.O. Box 202, Essington, PA 19029, USA"}]},{"given":"E.","family":"Feron","sequence":"additional","affiliation":[{"name":"Laboratory for Information and Decision Systems, Department of                         Aeronautics and Astronautics, MIT, Cambridge, MA 02139, USA"}]}],"member":"179","published-online":{"date-parts":[[2001,10,1]]},"reference":[{"key":"atypb1","unstructured":"Bertsekas, D., and Tsitsiklis, J. N. 1996. Neuro-Dynamic Programming. Bellmont, MA: Athena Scientific ."},{"key":"atypb2","unstructured":"Bramwell, A.R.S. 1976. Helicopter Dynamics. New York: John Wiley ."},{"key":"atypb3","unstructured":"Bullo, F. 1998. Nonlinear control of mechanical systems: A Riemannian geometry approach. Ph.D. thesis, California Institute of Technology."},{"key":"atypb4","unstructured":"Crawford, L., and Sastry, S. 1995. Biological motor control for a planar diver . Proceedings of the IEEE Conference on Decision and Control, December."},{"key":"atypb5","unstructured":"Frazzoli, E. 2001. Robust hybrid control for autonomous vehicle motion planning. Ph.D. thesis, MIT."},{"key":"atypb6","doi-asserted-by":"crossref","unstructured":"Gavrilets, V., Mettler, B., and Feron, E. 2001. Nonlinear dynamic model for a miniature acrobatic helicopter . AIAA Guidance, Navigation and Control Conference, Montreal, Canada, August.","DOI":"10.2514\/6.2001-4333"},{"key":"atypb7","doi-asserted-by":"crossref","unstructured":"Gavrilets, V., Shterenberg, A., Dahleh, M., and Feron, E. 2000. Avionics system for a small unmanned helicopter performing aggressive maneuvers . Digital Avionics Systems Conference, Philadelphia, October.","DOI":"10.1109\/62.949536"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1016\/S0376-0421(96)00005-X"},{"key":"atypb9","unstructured":"Kolnick, F. 1998. QNX 4 Real-Time Operating System. Toronto, Canada: Basis Computer Systems ."},{"key":"atypb10","unstructured":"Mettler, B. F., Tischler, M. B., and Kanade, T. 1999. System identification of small-size unmanned helicopter dynamics. 55th Forum of the American Helicopter Society, Montreal, Canada ."},{"key":"atypb11","doi-asserted-by":"crossref","unstructured":"Mettler, B. F., Tischler, M. B., Kanade, T., and Messner, W. 2000. Attitude control optimization for a small-scale unmanned helicopter . AIAA Guidance, Navigation and Control Conference and Exhibit, Denver, CO, August.","DOI":"10.2514\/6.2000-4059"},{"key":"atypb12","doi-asserted-by":"crossref","unstructured":"Mettler, B. F., Dever, C., and Feron, E. 2002. System identifi-cation and characteristics of small-scale rotorcraft . NATO SCI Panel Symposium, Berlin, Germany, May.","DOI":"10.1007\/978-1-4757-3785-1_5"},{"key":"atypb13","doi-asserted-by":"crossref","unstructured":"Mettler, B. F., Tischler, M. B., and Kanade, T. 2002. System identification modeling of a small-scale unmanned helicopter . 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Cambridge, MA: MIT Press .","DOI":"10.1109\/MEX.1986.4307016"},{"key":"atypb18","unstructured":"Sanders, C., Debitetto, P., Feron, E., Vuong, H.F., and Leveson, N. 1998. Hierarchical control of small autonomous helicopters . Proceedings of the IEEE Conference on Decision and Control, December."},{"key":"atypb19","unstructured":"Sprague, K., Gavrilets, V., Dugail, D., Mettler, B., and Feron, E. 2001. Design and applications of an avionics system for a miniature acrobatic helicopter . Digital Avionics Systems Conference, Daytona Beach, FL, October."},{"key":"atypb20","unstructured":"Szurovy, G., and Goulian, M. 1994. Basic Acrobatics. 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