{"id":"https://openalex.org/W2610753682","doi":"https://doi.org/10.1007/978-3-319-51547-2_15","title":"A Tutorial on Newton Methods for Constrained Trajectory Optimization and Relations to SLAM, Gaussian Process Smoothing, Optimal Control, and Probabilistic Inference","display_name":"A Tutorial on Newton Methods for Constrained Trajectory Optimization and Relations to SLAM, Gaussian Process Smoothing, Optimal Control, and Probabilistic Inference","publication_year":2017,"publication_date":"2017-01-01","ids":{"openalex":"https://openalex.org/W2610753682","doi":"https://doi.org/10.1007/978-3-319-51547-2_15","mag":"2610753682"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-319-51547-2_15","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-51547-2_15","pdf_url":null,"source":{"id":"https://openalex.org/S4210185684","display_name":"Springer tracts in advanced robotics","issn_l":"1610-742X","issn":["1610-742X","1610-7438"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Tracts in Advanced Robotics","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065672819","display_name":"Marc Toussaint","orcid":"https://orcid.org/0000-0002-5487-6767"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Marc Toussaint","raw_affiliation_strings":["Machine Learning and Robotics Lab, University Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Machine Learning and Robotics Lab, University Stuttgart, Stuttgart, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5065672819"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.6713,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.97920156,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"361","last_page":"392"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9890999794006348,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9678000211715698,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5683192014694214},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5356348156929016},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5216262936592102},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.490325003862381},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.48783352971076965},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.43824467062950134},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.41182148456573486},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28196561336517334},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.24376076459884644},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.23254835605621338},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.21481269598007202}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5683192014694214},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5356348156929016},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5216262936592102},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.490325003862381},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.48783352971076965},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.43824467062950134},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.41182148456573486},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28196561336517334},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.24376076459884644},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.23254835605621338},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.21481269598007202},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-319-51547-2_15","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-51547-2_15","pdf_url":null,"source":{"id":"https://openalex.org/S4210185684","display_name":"Springer tracts in advanced robotics","issn_l":"1610-742X","issn":["1610-742X","1610-7438"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Tracts in Advanced Robotics","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1536308292","https://openalex.org/W1548821669","https://openalex.org/W1566070776","https://openalex.org/W1934021597","https://openalex.org/W1964946446","https://openalex.org/W1993170675","https://openalex.org/W2001981441","https://openalex.org/W2019965290","https://openalex.org/W2020934227","https://openalex.org/W2024908906","https://openalex.org/W2042613327","https://openalex.org/W2095095223","https://openalex.org/W2096351669","https://openalex.org/W2099893201","https://openalex.org/W2107464055","https://openalex.org/W2107662876","https://openalex.org/W2137813581","https://openalex.org/W2147880316","https://openalex.org/W2153054365","https://openalex.org/W2156561799","https://openalex.org/W2158370675","https://openalex.org/W2162218551","https://openalex.org/W2167856595","https://openalex.org/W2172968643","https://openalex.org/W2182229738","https://openalex.org/W2209762605","https://openalex.org/W2217407546","https://openalex.org/W2293883387","https://openalex.org/W2296360731","https://openalex.org/W2412669390","https://openalex.org/W2737702598","https://openalex.org/W2983690517","https://openalex.org/W4255064568","https://openalex.org/W4301014524","https://openalex.org/W6814003322"],"related_works":["https://openalex.org/W4213214852","https://openalex.org/W2512014291","https://openalex.org/W2003479292","https://openalex.org/W3135469233","https://openalex.org/W3101253900","https://openalex.org/W2133687134","https://openalex.org/W2347892399","https://openalex.org/W2047206873","https://openalex.org/W3038596169","https://openalex.org/W345637666"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
