{"id":"W2968573295","doi":"10.1109/icra.2019.8793549","title":"Energy Optimal Control Allocation in a Redundantly Actuated Omnidirectional UAV","year":2019,"lang":"en","type":"article","venue":"","topic":"Robotic Path Planning Algorithms","field":"Computer Science","cited_by":18,"is_retracted":false,"has_abstract":true,"ca_institutions":"McMaster University","funders":"","keywords":"Torque; Control theory (sociology); Thrust; Redundancy (engineering); Actuator; Underactuation; Propeller; Multirotor; Computer science; Engineering; Control engineering; Control (management); Aerospace engineering","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0001394401,0.0003985452,0.0003487647,0.0001401633,0.0002091152,0.0003249327,0.0003361673,0.0002882036,0.0004248297],"category_scores_gemma":[0.0001774823,0.0002147775,0.000199624,0.000122458,0.0003225955,0.000254352,0.0003133597,0.0002370792,0.00008431399],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002812033,"about_ca_system_score_gemma":0.0003390764,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.003117816,"about_ca_topic_score_gemma":0.002122768,"domain_scores_codex":[0.9999285,0.00001486113,0.000002668299,0.00001967774,0.00002077785,0.00001367508],"domain_scores_gemma":[0.9999453,0.00001431142,0.00001991364,0.000005489176,0.000009006391,0.000005945905],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.00005455126,0.00002249324,0.0002483716,0.00003050343,0.00001078365,0.0001248675,0.00004601126,0.9687983,0.01180393,0.004358351,0.0003000935,0.01420169],"study_design_scores_gemma":[0.000005842894,0.00004489772,0.00008872936,0.000001585963,0.000002379973,0.00001614415,0.000008530948,0.9982184,0.0007851669,0.0005819222,0.0002437858,0.000002651823],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.1749908,0.0002584209,0.8177435,0.0001787135,0.0000319982,0.00003052995,0.0000405153,0.0002052386,0.006520091],"genre_scores_gemma":[0.9679605,0.0000926937,0.0301275,0.00002867267,0.000008028426,0.00003073407,0.00001941423,0.00001355688,0.001718815],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.003117816,"threshold_uncertainty_score":0.00619936,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.007990774785690637,"score_gpt":0.2197701244758008,"score_spread":0.2117793496901101,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}