{"id":"https://openalex.org/W2974434020","doi":"https://doi.org/10.1109/cdc40024.2019.9028893","title":"Trajectory Optimization for Chance-Constrained Nonlinear Stochastic Systems","display_name":"Trajectory Optimization for Chance-Constrained Nonlinear Stochastic Systems","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W2974434020","doi":"https://doi.org/10.1109/cdc40024.2019.9028893","mag":"2974434020"},"language":"en","primary_location":{"id":"doi:10.1109/cdc40024.2019.9028893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9028893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","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/A5052391392","display_name":"Yashwanth Kumar Nakka","orcid":"https://orcid.org/0000-0001-7897-3644"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yashwanth Kumar Nakka","raw_affiliation_strings":["Department of Aerospace (GA\u2112CIT), California Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace (GA\u2112CIT), California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031408324","display_name":"Soon\u2010Jo Chung","orcid":"https://orcid.org/0000-0002-6657-3907"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Soon-Jo Chung","raw_affiliation_strings":["Department of Aerospace (GA\u2112CIT), California Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace (GA\u2112CIT), California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5052391392"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":2.3221,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.91307448,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3811","last_page":"3818"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10928","display_name":"Probabilistic and Robust Engineering Design","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1804","display_name":"Statistics, Probability and Uncertainty"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10928","display_name":"Probabilistic and Robust Engineering Design","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1804","display_name":"Statistics, Probability and Uncertainty"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.9815000295639038,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10969","display_name":"Water resources management and optimization","score":0.9686999917030334,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/mathematical-optimization","display_name":"Mathematical optimization","score":0.6567451357841492},{"id":"https://openalex.org/keywords/stochastic-optimization","display_name":"Stochastic optimization","score":0.5377706289291382},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5231367945671082},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5186761617660522},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.5113620162010193},{"id":"https://openalex.org/keywords/multiplicative-function","display_name":"Multiplicative function","score":0.5049486756324768},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5036303400993347},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.48435840010643005},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.4656888246536255},{"id":"https://openalex.org/keywords/stochastic-programming","display_name":"Stochastic programming","score":0.46555736660957336},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4614827036857605},{"id":"https://openalex.org/keywords/probability-distribution","display_name":"Probability distribution","score":0.4501861333847046},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.3845507502555847},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3724396824836731}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6567451357841492},{"id":"https://openalex.org/C194387892","wikidata":"https://www.wikidata.org/wiki/Q1747770","display_name":"Stochastic optimization","level":2,"score":0.5377706289291382},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5231367945671082},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5186761617660522},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.5113620162010193},{"id":"https://openalex.org/C42747912","wikidata":"https://www.wikidata.org/wiki/Q1048447","display_name":"Multiplicative function","level":2,"score":0.5049486756324768},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5036303400993347},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.48435840010643005},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.4656888246536255},{"id":"https://openalex.org/C137631369","wikidata":"https://www.wikidata.org/wiki/Q7617831","display_name":"Stochastic programming","level":2,"score":0.46555736660957336},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4614827036857605},{"id":"https://openalex.org/C149441793","wikidata":"https://www.wikidata.org/wiki/Q200726","display_name":"Probability distribution","level":2,"score":0.4501861333847046},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.3845507502555847},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3724396824836731},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc40024.2019.9028893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9028893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:98729","is_oa":false,"landing_page_url":"https://resolver.caltech.edu/CaltechAUTHORS:20190918-132943526","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1538934584","https://openalex.org/W1964377184","https://openalex.org/W1964946446","https://openalex.org/W1967729795","https://openalex.org/W1999131722","https://openalex.org/W2018159038","https://openalex.org/W2043962331","https://openalex.org/W2044274238","https://openalex.org/W2062845216","https://openalex.org/W2065313971","https://openalex.org/W2074184884","https://openalex.org/W2079716434","https://openalex.org/W2092660864","https://openalex.org/W2097148013","https://openalex.org/W2125240595","https://openalex.org/W2127788848","https://openalex.org/W2138048509","https://openalex.org/W2151362336","https://openalex.org/W2167856595","https://openalex.org/W2169982942","https://openalex.org/W2229105208","https://openalex.org/W2332771484","https://openalex.org/W2578416453","https://openalex.org/W2613825967","https://openalex.org/W2901402208","https://openalex.org/W2915061181","https://openalex.org/W3099548126","https://openalex.org/W4245550013","https://openalex.org/W4297785478","https://openalex.org/W6680750334","https://openalex.org/W6737986231","https://openalex.org/W6738159593","https://openalex.org/W6759226103"],"related_works":["https://openalex.org/W4254717236","https://openalex.org/W2377757044","https://openalex.org/W3160952126","https://openalex.org/W2347515520","https://openalex.org/W2320103255","https://openalex.org/W798918733","https://openalex.org/W4213167601","https://openalex.org/W163279402","https://openalex.org/W2101287851","https://openalex.org/W2403168774"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,8,12,35,110,143,160],"new":[4],"method":[5,25,135],"of":[6,11,91,97,105,113,121,132],"computing":[7,139],"sub-optimal":[9],"solution":[10,104,112],"continuous-time":[13],"continuous-space":[14],"chance-constrained":[15,62,115],"stochastic":[16,150],"nonlinear":[17,37],"optimal":[18,38,89],"control":[19,39],"problem":[20,40,72],"(SNOC)":[21],"problem.":[22],"The":[23,29,64,130],"proposed":[24],"involves":[26],"two":[27],"steps.":[28],"first":[30],"step":[31,66],"is":[32,67,109,136],"to":[33,48,68,95,126],"derive":[34],"deterministic":[36],"(DNOC)":[41],"with":[42,148,159],"convex":[43,75],"constraints":[44],"that":[45,83,96,101],"are":[46],"surrogate":[47],"the":[49,70,85,88,92,106,114,118,122,127,133,154],"SNOC":[50,98,116],"by":[51,138],"using":[52,73],"generalized":[53],"polynomial":[54],"chaos":[55],"(gPC)":[56],"expansion":[57],"and":[58,100],"tools":[59],"taken":[60],"from":[61],"programming.":[63],"second":[65],"solve":[69],"DNOC":[71,93,108],"sequential":[74],"programming":[76],"(SCP)":[77],"for":[78,142],"trajectory":[79],"generation.":[80],"We":[81],"prove":[82],"in":[84],"unconstrained":[86],"case,":[87],"value":[90],"converges":[94,125],"asymptotically":[99],"any":[102],"feasible":[103,111],"constrained":[107],"because":[117],"gPC":[119],"approximation":[120],"random":[123],"variables":[124],"true":[128],"distribution.":[129],"effectiveness":[131],"gPC-SCP":[134],"demonstrated":[137],"safe":[140],"trajectories":[141],"second-order":[144],"planar":[145],"robot":[146],"model":[147],"multiplicative":[149],"uncertainty":[151],"entering":[152],"at":[153],"input":[155],"while":[156],"avoiding":[157],"collisions":[158],"specified":[161],"probability.":[162]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
