{"id":"https://openalex.org/W4315488591","doi":"https://doi.org/10.1109/cdc51059.2022.9992436","title":"Optimal Linear Multiple Estimation for Landmark-Based Planning via Control Synthesis","display_name":"Optimal Linear Multiple Estimation for Landmark-Based Planning via Control Synthesis","publication_year":2022,"publication_date":"2022-12-06","ids":{"openalex":"https://openalex.org/W4315488591","doi":"https://doi.org/10.1109/cdc51059.2022.9992436"},"language":"en","primary_location":{"id":"doi:10.1109/cdc51059.2022.9992436","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9992436","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st 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/A5065580689","display_name":"Chenfei Wang","orcid":"https://orcid.org/0000-0001-7573-3768"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Chenfei Wang","raw_affiliation_strings":["Department of Mechanical Engineering,Boston,MA,USA,02215"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering,Boston,MA,USA,02215","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031884953","display_name":"Roberto Tron","orcid":"https://orcid.org/0000-0002-6676-8595"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roberto Tron","raw_affiliation_strings":["Department of Mechanical Engineering,Boston,MA,USA,02215"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering,Boston,MA,USA,02215","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5065580689"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.06,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.34236418,"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":"74","last_page":"79"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976000189781189,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/landmark","display_name":"Landmark","score":0.8511670827865601},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6756124496459961},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6050178408622742},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5367461442947388},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45418301224708557},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.45375820994377136},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4344601333141327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42739230394363403},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.42443108558654785},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3898554742336273},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3325749635696411},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31794700026512146},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25468599796295166},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22420355677604675},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13074657320976257}],"concepts":[{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.8511670827865601},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6756124496459961},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6050178408622742},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5367461442947388},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45418301224708557},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.45375820994377136},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4344601333141327},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42739230394363403},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.42443108558654785},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3898554742336273},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3325749635696411},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31794700026512146},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25468599796295166},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22420355677604675},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13074657320976257},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121955636","wikidata":"https://www.wikidata.org/wiki/Q4116214","display_name":"Accounting","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc51059.2022.9992436","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc51059.2022.9992436","pdf_url":null,"source":{"id":"https://openalex.org/S4363607710","display_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 61st Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W580909263","https://openalex.org/W1424654272","https://openalex.org/W1980569135","https://openalex.org/W1986164962","https://openalex.org/W2041076275","https://openalex.org/W2047448918","https://openalex.org/W2116647221","https://openalex.org/W2154160214","https://openalex.org/W2165744968","https://openalex.org/W2166691751","https://openalex.org/W2171778162","https://openalex.org/W2171879251","https://openalex.org/W2489231587","https://openalex.org/W2560504659","https://openalex.org/W2789826932","https://openalex.org/W2887154784","https://openalex.org/W3102238624","https://openalex.org/W3132696407","https://openalex.org/W3143034939","https://openalex.org/W3184433571","https://openalex.org/W3184816927","https://openalex.org/W3186308521","https://openalex.org/W3195647294","https://openalex.org/W3215339089","https://openalex.org/W4205660069","https://openalex.org/W4315488591","https://openalex.org/W6801468180"],"related_works":["https://openalex.org/W2056853153","https://openalex.org/W2057559274","https://openalex.org/W2005087563","https://openalex.org/W2378111931","https://openalex.org/W2052388267","https://openalex.org/W2950647290","https://openalex.org/W1968481813","https://openalex.org/W2620829895","https://openalex.org/W2356918560","https://openalex.org/W2142338363"],"abstract_inverted_index":{"A":[0],"common":[1],"way":[2],"to":[3,25,49,70,139,178],"implement":[4],"navigation":[5,180],"in":[6,76,104,189],"mobile":[7],"robots":[8],"is":[9,24,118,176],"through":[10],"the":[11,18,22,35,38,74,85,102,105,114,121,127,130,133,136,153,161,164,166,174,190],"use":[12],"of":[13,21,37,87,96,120,129,135,163],"landmarks.":[14],"In":[15,41],"this":[16,81],"case,":[17],"main":[19],"goal":[20,30],"controller":[23,168],"make":[26],"progress":[27],"toward":[28],"a":[29,47,56,62],"location":[31],"(stability),":[32],"while":[33],"avoiding":[34],"boundary":[36],"environment":[39],"(safety).":[40],"our":[42,59,110],"previous":[43],"work,":[44,82],"we":[45,83],"proposed":[46],"method":[48],"synthesize":[50],"global":[51],"controllers":[52],"for":[53],"environments":[54],"with":[55,67,186],"polyhedral":[57],"decomposition;":[58],"solution":[60],"uses":[61],"Quadratically":[63],"Constrained":[64],"Quadratic":[65],"Program":[66],"Chance":[68],"Constraints":[69],"take":[71],"into":[72],"account":[73],"uncertainty":[75,103],"landmark":[77,98,117,131],"measurements.":[78],"Building":[79],"upon":[80],"introduce":[84],"concept":[86],"virtual":[88],"landmarks,":[89,144],"which":[90],"are":[91],"defined":[92],"as":[93],"linear":[94],"combinations":[95],"actual":[97],"measurements":[99],"that":[100,113,150],"minimize":[101],"resulting":[106,167],"control":[107,123],"actions.":[108],"Interestingly,":[109],"results":[111],"show":[112],"first":[115],"minimum-variance":[116],"independent":[119,143],"feedback":[122],"matrix,":[124],"thus":[125],"decoupling":[126],"design":[128],"from":[132],"one":[134],"controller;":[137],"attempting":[138],"derive":[140],"additional,":[141],"statistically":[142],"however,":[145],"requires":[146],"solving":[147],"non-convex":[148],"problems":[149],"involve":[151],"also":[152],"controller.":[154],"Numerical":[155],"experiments":[156],"demonstrate":[157],"that,":[158],"by":[159],"minimizing":[160],"variance":[162],"inputs,":[165],"will":[169],"be":[170],"less":[171,187],"conservative,":[172],"and":[173,185],"robot":[175],"able":[177],"complete":[179],"tasks":[181],"more":[182],"effectively":[183],"(faster":[184],"jitter":[188],"trajectory).":[191]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}