{"id":"https://openalex.org/W2104910675","doi":"https://doi.org/10.1109/acc.2013.6580494","title":"Observability optimization for the nonholonomic integrator","display_name":"Observability optimization for the nonholonomic integrator","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2104910675","doi":"https://doi.org/10.1109/acc.2013.6580494","mag":"2104910675"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2013.6580494","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6580494","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5013734698","display_name":"Brian T. Hinson","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian T. Hinson","raw_affiliation_strings":["Department of Aeronautics and Astronautics, University of Washington, Seattle, WA, USA","Dept. of Aeronaut. & Astronaut., Univ. of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]},{"raw_affiliation_string":"Dept. of Aeronaut. & Astronaut., Univ. of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042329051","display_name":"Kristi A. Morgansen","orcid":"https://orcid.org/0000-0001-9826-7886"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kristi A. Morgansen","raw_affiliation_strings":["Department of Aeronautics and Astronautics, University of Washington, Seattle, WA, USA","Dept. of Aeronaut. & Astronaut., Univ. of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I201448701"]},{"raw_affiliation_string":"Dept. of Aeronaut. & Astronaut., Univ. of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5632,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.92923166,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4257","last_page":"4262"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9987000226974487,"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":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.9717823266983032},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.8299905061721802},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7950334548950195},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.5787950754165649},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.5348374247550964},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.48554179072380066},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4838756322860718},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4535922706127167},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3920656442642212},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21231016516685486},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.14038676023483276},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1260252296924591},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12384048104286194},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0929061770439148}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.9717823266983032},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8299905061721802},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7950334548950195},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.5787950754165649},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.5348374247550964},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.48554179072380066},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4838756322860718},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4535922706127167},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3920656442642212},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21231016516685486},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.14038676023483276},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1260252296924591},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12384048104286194},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0929061770439148},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"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":2,"locations":[{"id":"doi:10.1109/acc.2013.6580494","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2013.6580494","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 American Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.457.1407","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.457.1407","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://webtest.aa.washington.edu/research/ndcl/publications/Hinson-ACC2013b-submitted.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W22545347","https://openalex.org/W1602197575","https://openalex.org/W1966076243","https://openalex.org/W2012714557","https://openalex.org/W2031503828","https://openalex.org/W2107612715","https://openalex.org/W2133361850","https://openalex.org/W2140998418","https://openalex.org/W2145654359","https://openalex.org/W2149428248","https://openalex.org/W3145327877","https://openalex.org/W6600916036"],"related_works":["https://openalex.org/W2332386680","https://openalex.org/W1983142522","https://openalex.org/W1986570998","https://openalex.org/W2782529250","https://openalex.org/W2037921533","https://openalex.org/W2508171592","https://openalex.org/W2801563517","https://openalex.org/W2130864543","https://openalex.org/W2068126039","https://openalex.org/W2041749520"],"abstract_inverted_index":{"A":[0],"growing":[1],"number":[2],"of":[3,58,68,87,104],"control":[4,23,60,89],"problems":[5],"are":[6,97,110],"concerned":[7],"with":[8],"vehicles":[9],"that":[10,61,72,99,123],"have":[11],"insufficient":[12],"sensors":[13],"to":[14,25,112,116,129],"directly":[15],"measure":[16],"all":[17,27,73],"system":[18,53,63,70],"states":[19,29,75],"and":[20,35,82,135],"require":[21],"active":[22,59],"actuation":[24,83],"observe":[26],"necessary":[28],"(e.g.":[30],"underwater":[31],"navigation,":[32],"simultaneous":[33],"localization":[34],"mapping,":[36],"parameter":[37],"identification).":[38],"In":[39],"this":[40,69],"paper,":[41],"we":[42],"consider":[43],"first-order":[44],"nonholonomic":[45,74],"systems":[46],"in":[47,79,84],"canonical":[48],"form":[49],"as":[50],"a":[51,85],"model":[52],"for":[54,93],"exploring":[55],"the":[56,80,105,124],"development":[57],"optimizes":[62],"observability":[64,106],"characteristics.":[65],"Observability":[66],"analysis":[67],"shows":[71],"must":[76],"be":[77,113],"measured":[78],"output,":[81],"minimum":[86],"two":[88],"channels":[90],"is":[91],"required":[92],"observability.":[94],"Analytical":[95],"trajectories":[96,126],"derived":[98],"allow":[100],"almost":[101],"arbitrary":[102],"placement":[103],"gramian":[107],"eigenvalues,":[108],"which":[109],"shown":[111],"inversely":[114],"related":[115],"state":[117,139],"estimation":[118],"covariances.":[119],"Simulation":[120],"results":[121],"show":[122],"optimal":[125],"provide":[127],"four":[128],"five":[130],"times":[131,137],"faster":[132],"estimator":[133],"convergence":[134],"three":[136],"lower":[138],"estimate":[140],"covariances":[141],"than":[142],"suboptimal":[143],"trajectories.":[144]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
