{"id":"https://openalex.org/W4402579529","doi":"https://doi.org/10.1017/s0263574724001176","title":"Artificial neural network-based model predictive visual servoing for mobile robots","display_name":"Artificial neural network-based model predictive visual servoing for mobile robots","publication_year":2024,"publication_date":"2024-08-01","ids":{"openalex":"https://openalex.org/W4402579529","doi":"https://doi.org/10.1017/s0263574724001176"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574724001176","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574724001176","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","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/A5031195567","display_name":"Seong Hyeon Hong","orcid":"https://orcid.org/0000-0003-4747-7669"},"institutions":[{"id":"https://openalex.org/I106959904","display_name":"Florida Institute of Technology","ror":"https://ror.org/04atsbb87","country_code":"US","type":"education","lineage":["https://openalex.org/I106959904"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seong Hyeon Hong","raw_affiliation_strings":["Florida Institute of Technology, Melbourne, FL, USA"],"raw_orcid":"https://orcid.org/0000-0003-4747-7669","affiliations":[{"raw_affiliation_string":"Florida Institute of Technology, Melbourne, FL, USA","institution_ids":["https://openalex.org/I106959904"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071807798","display_name":"Benjamin Albia","orcid":null},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin Albia","raw_affiliation_strings":["University of South Carolina, Columbia, SC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of South Carolina, Columbia, SC, USA","institution_ids":["https://openalex.org/I155781252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065246276","display_name":"Tristan Kyzer","orcid":null},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tristan Kyzer","raw_affiliation_strings":["University of South Carolina, Columbia, SC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of South Carolina, Columbia, SC, USA","institution_ids":["https://openalex.org/I155781252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067179798","display_name":"Jackson Cornelius","orcid":null},"institutions":[{"id":"https://openalex.org/I4210153148","display_name":"CFD Research Corporation (United States)","ror":"https://ror.org/04wd31514","country_code":"US","type":"company","lineage":["https://openalex.org/I4210153148"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jackson Cornelius","raw_affiliation_strings":["CFD Research Corporation, Huntsville, AL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CFD Research Corporation, Huntsville, AL, USA","institution_ids":["https://openalex.org/I4210153148"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107604086","display_name":"Eric R. Mark","orcid":null},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric R. Mark","raw_affiliation_strings":["Army Research Laboratory, Aberdeen Proving Ground, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Army Research Laboratory, Aberdeen Proving Ground, MD, USA","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103227259","display_name":"Asha Hall","orcid":"https://orcid.org/0009-0002-6672-0134"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Asha J. Hall","raw_affiliation_strings":["Army Research Laboratory, Aberdeen Proving Ground, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Army Research Laboratory, Aberdeen Proving Ground, MD, USA","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100739526","display_name":"Yi Wang","orcid":"https://orcid.org/0000-0001-9681-2334"},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yi Wang","raw_affiliation_strings":["University of South Carolina, Columbia, SC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of South Carolina, Columbia, SC, USA","institution_ids":["https://openalex.org/I155781252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100739526"],"corresponding_institution_ids":["https://openalex.org/I155781252"],"apc_list":null,"apc_paid":null,"fwci":0.4584,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.63251939,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"42","issue":"8","first_page":"2825","last_page":"2847"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9977999925613403,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9977999925613403,"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/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9819999933242798,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.9042152166366577},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.7111485004425049},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6667509078979492},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6467846632003784},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5491875410079956},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5425006747245789},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4941697418689728},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4440660774707794},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15829744935035706}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9042152166366577},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.7111485004425049},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6667509078979492},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6467846632003784},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5491875410079956},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5425006747245789},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4941697418689728},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4440660774707794},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15829744935035706}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574724001176","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574724001176","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W1520171478","https://openalex.org/W2386520554","https://openalex.org/W4317830657","https://openalex.org/W2127866683","https://openalex.org/W3024380338","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"paper":[2],"presents":[3],"an":[4,79],"artificial":[5],"neural":[6],"network":[7],"(ANN)-based":[8],"nonlinear":[9,126],"model":[10,20,44,74,81,127,145,150],"predictive":[11,128],"visual":[12,131],"servoing":[13,132],"method":[14],"for":[15,23,48,143],"mobile":[16],"robots.":[17],"The":[18,134],"ANN":[19,52,80,111,123],"is":[21,55,68,96,141],"developed":[22],"state":[24],"predictions":[25],"to":[26,77,107,117,160],"mitigate":[27],"the":[28,36,43,84,87,92,100,103,110,119,138,154,157,162,168,173],"unknown":[29],"dynamics":[30],"and":[31,46,75,102,130],"parameter":[32],"uncertainty":[33],"issues":[34],"of":[35,121],"physics-based":[37],"(PB)":[38],"model.":[39],"To":[40],"enhance":[41],"both":[42,99],"generalization":[45],"accuracy":[47,175],"control,":[49],"a":[50,58,71],"two-stage":[51],"training":[53],"process":[54],"proposed.":[56],"In":[57,83],"pretraining":[59,139,148],"stage,":[60,86],"highly":[61],"diversified":[62],"data":[63,89,170],"accommodating":[64],"broad":[65],"operating":[66],"ranges":[67],"generated":[69],"by":[70,176],"PB":[72],"kinematics":[73],"used":[76],"train":[78],"first.":[82],"second":[85],"test":[88,155],"collected":[90],"from":[91],"actual":[93],"system,":[94],"which":[95],"limited":[97],"in":[98],"diversity":[101],"volume,":[104],"are":[105,115],"employed":[106],"further":[108,171],"finetune":[109],"weights.":[112],"Path-following":[113],"experiments":[114],"conducted":[116],"compare":[118],"effects":[120],"various":[122],"models":[124],"on":[125,179],"control":[129],"performance.":[133],"results":[135],"confirm":[136],"that":[137],"stage":[140],"necessary":[142],"improving":[144],"generalization.":[146],"Without":[147],"(i.e.,":[149],"trained":[151],"only":[152],"with":[153,167],"data),":[156],"robot":[158],"fails":[159],"follow":[161],"entire":[163],"track.":[164],"Weight":[165],"finetuning":[166],"captured":[169],"improves":[172],"tracking":[174],"0.07\u20130.15":[177],"cm":[178],"average.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-05-09T13:55:54.758798","created_date":"2025-10-10T00:00:00"}