{"id":"https://openalex.org/W2923314748","doi":"https://doi.org/10.1109/cdc40024.2019.9029993","title":"Nonlinear Uncertainty Control with Iterative Covariance Steering","display_name":"Nonlinear Uncertainty Control with Iterative Covariance Steering","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W2923314748","doi":"https://doi.org/10.1109/cdc40024.2019.9029993","mag":"2923314748"},"language":"en","primary_location":{"id":"doi:10.1109/cdc40024.2019.9029993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029993","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1903.10919","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021471689","display_name":"Jack Ridderhof","orcid":null},"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":"Jack Ridderhof","raw_affiliation_strings":["School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","#N#\u2021#N#Georgia Institute of Technology#N#"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"#N#\u2021#N#Georgia Institute of Technology#N#","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000307667","display_name":"Kazuhide Okamoto","orcid":"https://orcid.org/0000-0003-4222-8356"},"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":"Kazuhide Okamoto","raw_affiliation_strings":["School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","#N#\u2021#N#Georgia Institute of Technology#N#"],"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"#N#\u2021#N#Georgia Institute of Technology#N#","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077667229","display_name":"Panagiotis Tsiotras","orcid":"https://orcid.org/0000-0001-7563-4129"},"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":"Panagiotis Tsiotras","raw_affiliation_strings":["D. Guggenheim School of Aerospace Engineering and the Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","#N#\u2021#N#Georgia Institute of Technology#N#"],"affiliations":[{"raw_affiliation_string":"D. Guggenheim School of Aerospace Engineering and the Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"#N#\u2021#N#Georgia Institute of Technology#N#","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5021471689"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":0.1685,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.45401944,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"3484","last_page":"3490"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.994700014591217,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.994700014591217,"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/T11236","display_name":"Control Systems and Identification","score":0.9732999801635742,"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/T10067","display_name":"Stochastic processes and financial applications","score":0.9656999707221985,"subfield":{"id":"https://openalex.org/subfields/2003","display_name":"Finance"},"field":{"id":"https://openalex.org/fields/20","display_name":"Economics, Econometrics and Finance"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.7537926435470581},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5964056253433228},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5558614134788513},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.55540531873703},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5291091799736023},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49555861949920654},{"id":"https://openalex.org/keywords/covariance-function","display_name":"Covariance function","score":0.4487277567386627},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.43496212363243103},{"id":"https://openalex.org/keywords/stochastic-control","display_name":"Stochastic control","score":0.41808682680130005},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.414631724357605},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3914252519607544},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.316023051738739},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15443727374076843}],"concepts":[{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.7537926435470581},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5964056253433228},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5558614134788513},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.55540531873703},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5291091799736023},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49555861949920654},{"id":"https://openalex.org/C137250428","wikidata":"https://www.wikidata.org/wiki/Q5178897","display_name":"Covariance function","level":3,"score":0.4487277567386627},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.43496212363243103},{"id":"https://openalex.org/C170131372","wikidata":"https://www.wikidata.org/wiki/Q7617811","display_name":"Stochastic control","level":3,"score":0.41808682680130005},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.414631724357605},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3914252519607544},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.316023051738739},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15443727374076843},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/cdc40024.2019.9029993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9029993","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:arXiv.org:1903.10919","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.10919","pdf_url":"https://arxiv.org/pdf/1903.10919","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},{"id":"mag:2923314748","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1903.10919","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1903.10919","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1903.10919","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1903.10919","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.10919","pdf_url":"https://arxiv.org/pdf/1903.10919","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3063238925","display_name":null,"funder_award_id":"80NSSC17","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G5157548437","display_name":null,"funder_award_id":"CPS-1544814","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5689227516","display_name":null,"funder_award_id":"80NSSC17K0093","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G6894402473","display_name":null,"funder_award_id":"Fellowship","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G882470546","display_name":"CPS: Synergy: Collaborative Research: Adaptive Intelligence for Cyber-Physical Automotive Active Safety - System Design and Evaluation","funder_award_id":"1544814","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320322037","display_name":"Nuclear Safety and Security Commission","ror":"https://ror.org/05qk3ge34"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2923314748.pdf","grobid_xml":"https://content.openalex.org/works/W2923314748.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W609616464","https://openalex.org/W1567262822","https://openalex.org/W1858982327","https://openalex.org/W1965842330","https://openalex.org/W1987420866","https://openalex.org/W2056257343","https://openalex.org/W2066557929","https://openalex.org/W2067778155","https://openalex.org/W2099506495","https://openalex.org/W2127788848","https://openalex.org/W2132004142","https://openalex.org/W2138693458","https://openalex.org/W2167856595","https://openalex.org/W2320211399","https://openalex.org/W2513178932","https://openalex.org/W2588273742","https://openalex.org/W2782371569","https://openalex.org/W2782427500","https://openalex.org/W2908954485","https://openalex.org/W2951559786","https://openalex.org/W2963293783","https://openalex.org/W2963859747","https://openalex.org/W2964076623","https://openalex.org/W2964187703","https://openalex.org/W3100727880","https://openalex.org/W3102244603","https://openalex.org/W4245164763","https://openalex.org/W4302609762","https://openalex.org/W6618825792","https://openalex.org/W6679445762","https://openalex.org/W6680368953"],"related_works":["https://openalex.org/W3011860312","https://openalex.org/W3139988784","https://openalex.org/W3127818199","https://openalex.org/W2099370259","https://openalex.org/W1975447466","https://openalex.org/W1990696058","https://openalex.org/W3108245990","https://openalex.org/W2996524046","https://openalex.org/W2117829448","https://openalex.org/W2126116278","https://openalex.org/W3154887018","https://openalex.org/W1996810588","https://openalex.org/W1640963076","https://openalex.org/W1536651105","https://openalex.org/W2053368412","https://openalex.org/W1517950598","https://openalex.org/W2974553480","https://openalex.org/W2056677059","https://openalex.org/W1989330774","https://openalex.org/W2611310856"],"abstract_inverted_index":{"This":[0,53],"paper":[1],"considers":[2],"the":[3,7],"problem":[4,41,48],"of":[5,10],"steering":[6,60],"state":[8],"distribution":[9,22],"a":[11,20,24,50,67],"nonlinear":[12],"stochastic":[13],"system":[14],"from":[15],"an":[16,45],"initial":[17],"Gaussian":[18],"to":[19,30,38,75],"terminal":[21],"with":[23,70],"specified":[25],"mean":[26],"and":[27],"covariance,":[28],"subject":[29,74],"probabilistic":[31,81],"path":[32,82],"constraints.":[33,83],"An":[34],"algorithm":[35],"is":[36,62],"developed":[37],"solve":[39],"this":[40],"by":[42,65],"iteratively":[43],"solving":[44],"approximate":[46],"linearized":[47],"as":[49],"convex":[51],"program.":[52],"method,":[54],"which":[55],"we":[56],"call":[57],"iterative":[58],"covariance":[59],"(iCS),":[61],"numerically":[63],"demonstrated":[64],"controlling":[66],"double":[68],"integrator":[69],"quadratic":[71],"drag":[72],"force":[73],"additive":[76],"Brownian":[77],"noise":[78],"while":[79],"satisfying":[80]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
