{"id":"https://openalex.org/W4414432327","doi":"https://doi.org/10.1109/case58245.2025.11164164","title":"Lie-algebra Learning for Mobile Robots Tracking Control with Model Uncertainty","display_name":"Lie-algebra Learning for Mobile Robots Tracking Control with Model Uncertainty","publication_year":2025,"publication_date":"2025-08-17","ids":{"openalex":"https://openalex.org/W4414432327","doi":"https://doi.org/10.1109/case58245.2025.11164164"},"language":"en","primary_location":{"id":"doi:10.1109/case58245.2025.11164164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11164164","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5062492826","display_name":"Jiawei Tang","orcid":"https://orcid.org/0000-0002-4448-0021"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jiawei Tang","raw_affiliation_strings":["Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay,Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay,Hong Kong SAR","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010625452","display_name":"Nachuan Yang","orcid":"https://orcid.org/0000-0002-3276-1790"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Nachuan Yang","raw_affiliation_strings":["Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay,Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay,Hong Kong SAR","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100778373","display_name":"Shuang Wu","orcid":"https://orcid.org/0000-0001-9512-2358"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Shuang Wu","raw_affiliation_strings":["Huawei Hong Kong Research Center,Noah&#x2019;s Ark Lab,Sha Tin,Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Hong Kong Research Center,Noah&#x2019;s Ark Lab,Sha Tin,Hong Kong SAR","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101897876","display_name":"Shilei Li","orcid":"https://orcid.org/0000-0003-0246-1719"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shilei Li","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074670449","display_name":"Dawei Shi","orcid":"https://orcid.org/0000-0002-3480-7502"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dawei Shi","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I4210094879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007329669","display_name":"Ling Shi","orcid":"https://orcid.org/0000-0002-6771-8258"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ling Shi","raw_affiliation_strings":["Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay,Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Clear Water Bay,Hong Kong SAR","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.33886154,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2568","last_page":"2573"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14470","display_name":"Advanced Data Processing Techniques","score":0.9707000255584717,"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/T14470","display_name":"Advanced Data Processing Techniques","score":0.9707000255584717,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9099000096321106,"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/kinematics","display_name":"Kinematics","score":0.713100016117096},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7038999795913696},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.6090999841690063},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5846999883651733},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5633999705314636},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.5303999781608582},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.5281999707221985},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4717999994754791}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.713100016117096},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7038999795913696},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.6090999841690063},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5846999883651733},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5633999705314636},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.5303999781608582},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.5281999707221985},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49950000643730164},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4717999994754791},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4620000123977661},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44119998812675476},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.43479999899864197},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39489999413490295},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.384799987077713},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.38179999589920044},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3605000078678131},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.3587999939918518},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.35589998960494995},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.3472000062465668},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.3246000111103058},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2994999885559082},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.29670000076293945},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2831000089645386},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2632000148296356}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case58245.2025.11164164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11164164","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-166449","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-166449","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1943808550","https://openalex.org/W2037025184","https://openalex.org/W2122561468","https://openalex.org/W2563402321","https://openalex.org/W2772589676","https://openalex.org/W3172934943","https://openalex.org/W3175769301","https://openalex.org/W3184620837","https://openalex.org/W3186379833","https://openalex.org/W4221140104","https://openalex.org/W4293662143","https://openalex.org/W4312815769","https://openalex.org/W4315471909","https://openalex.org/W4384818013","https://openalex.org/W4385127973","https://openalex.org/W4393140012","https://openalex.org/W4400904814"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,47,64],"novel":[4],"Lie-algebra":[5,58,80],"learning":[6,73,88],"approach":[7,22],"for":[8,68],"differential":[9],"wheeled":[10],"robots":[11],"(DWRs)":[12],"trajectory":[13,94],"tracking":[14,66,81,95],"with":[15],"uncertainty":[16],"in":[17],"the":[18,26,35,53,57,69,78,84,87,100,103,108],"kinematic":[19,50],"model.":[20,51],"The":[21,75],"is":[23],"motivated":[24],"by":[25],"fundamental":[27],"property":[28],"of":[29,56,77,86,102,110],"group":[30,39],"affine":[31],"systems,":[32],"which":[33],"convert":[34],"state":[36],"space":[37,40,43],"from":[38],"to":[41,91],"vector":[42],"locally":[44],"and":[45,72,106],"derive":[46],"state-independent":[48],"error":[49],"Following":[52],"controllability":[54],"analysis":[55,76],"optimal":[59,79],"control":[60,82,89,112],"problem,":[61],"we":[62],"design":[63],"suitable":[65],"scenario":[67],"data":[70],"collection":[71],"process.":[74],"facilitates":[83],"development":[85],"algorithm":[90],"handle":[92],"different":[93],"scenarios.":[96],"Simulation":[97],"experiments":[98],"validate":[99],"efficiency":[101],"proposed":[104],"method":[105,113],"demonstrate":[107],"advantages":[109],"our":[111],"over":[114],"existing":[115],"approaches.":[116]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
