{"id":"https://openalex.org/W1986560885","doi":"https://doi.org/10.1109/acc.2010.5530572","title":"Expanding motion programs under input constraints","display_name":"Expanding motion programs under input constraints","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W1986560885","doi":"https://doi.org/10.1109/acc.2010.5530572","mag":"1986560885"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2010.5530572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5530572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-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/A5063356958","display_name":"Patrick Martin","orcid":"https://orcid.org/0000-0002-5896-828X"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Patrick Martin","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA","[Georgia Institute of Technology, Atlanta, 30332, USA]"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"[Georgia Institute of Technology, Atlanta, 30332, USA]","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091125105","display_name":"Magnus Egerstedt","orcid":"https://orcid.org/0000-0003-4213-5299"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Magnus Egerstedt","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA","[Georgia Institute of Technology, Atlanta, 30332, USA]"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"[Georgia Institute of Technology, Atlanta, 30332, USA]","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5063356958"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":0.7226,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.75452178,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2416","last_page":"2421"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"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/computer-science","display_name":"Computer science","score":0.6401240825653076},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5001404285430908},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2185092568397522}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6401240825653076},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5001404285430908},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2185092568397522}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2010.5530572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5530572","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6000000238418579}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W182463085","https://openalex.org/W1507941030","https://openalex.org/W1534416612","https://openalex.org/W1613941545","https://openalex.org/W2021563297","https://openalex.org/W2076156720","https://openalex.org/W2111931405","https://openalex.org/W2132714442","https://openalex.org/W2144951631","https://openalex.org/W2162732226","https://openalex.org/W2296356821","https://openalex.org/W2564832474"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"We":[0,76],"explore":[1],"the":[2,29,44,54,73,79,83,100],"effect":[3],"that":[4,40,68,93],"bounded":[5,45],"inputs":[6],"have":[7],"when":[8],"we":[9,52],"specifying":[10],"sequences":[11,56],"of":[12,81],"control":[13,60],"laws":[14],"for":[15,86],"driving":[16],"a":[17,64,91],"linear,":[18],"dynamical":[19],"system":[20,103],"through":[21],"intermediary":[22],"equilibrium":[23],"points.":[24],"These":[25],"sequences,":[26],"given":[27],"in":[28,39,63,70],"Motion":[30],"Description":[31],"Language":[32],"(MDL)":[33],"formalism,":[34],"may":[35,42],"not":[36],"be":[37],"feasible":[38],"they":[41],"violate":[43],"input":[46,74,101],"constraints.":[47,75],"To":[48],"overcome":[49],"this":[50],"problem,":[51],"augment":[53],"MDL":[55],"by":[57],"inserting":[58],"extra":[59],"modes,":[61],"resulting":[62],"new":[65,95],"motion":[66,84,96],"program":[67,85],"does":[69],"fact":[71],"satisfy":[72],"first":[77],"consider":[78],"problem":[80],"\u201ccompiling\u201d":[82],"feasibility,":[87],"and":[88,105],"then":[89],"propose":[90],"method":[92],"constructs":[94],"programs":[97],"based":[98],"on":[99],"bounds,":[102],"dynamics,":[104],"task":[106],"design":[107],"goals.":[108]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
