{"id":"https://openalex.org/W2973300496","doi":"https://doi.org/10.1109/coase.2019.8843096","title":"Computing Feedback Plans from Dynamical System Composition","display_name":"Computing Feedback Plans from Dynamical System Composition","publication_year":2019,"publication_date":"2019-08-01","ids":{"openalex":"https://openalex.org/W2973300496","doi":"https://doi.org/10.1109/coase.2019.8843096","mag":"2973300496"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2019.8843096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2019.8843096","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","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/A5064423577","display_name":"Alfredo Bayuelo","orcid":null},"institutions":[{"id":"https://openalex.org/I36243813","display_name":"Universidad Nacional de Colombia","ror":"https://ror.org/059yx9a68","country_code":"CO","type":"education","lineage":["https://openalex.org/I36243813"]}],"countries":["CO"],"is_corresponding":true,"raw_author_name":"Alfredo Bayuelo","raw_affiliation_strings":["Universidad Nacional de Colombia - Sede Bogot\u00e1 - Facultad de Ingenier\u00eda - Depto. de Ingenieria de Sistemas e Industrial - cra 4526-85, Bogota, Colombia"],"affiliations":[{"raw_affiliation_string":"Universidad Nacional de Colombia - Sede Bogot\u00e1 - Facultad de Ingenier\u00eda - Depto. de Ingenieria de Sistemas e Industrial - cra 4526-85, Bogota, Colombia","institution_ids":["https://openalex.org/I36243813"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031063935","display_name":"Tauhidul Alam","orcid":"https://orcid.org/0000-0003-2777-413X"},"institutions":[{"id":"https://openalex.org/I121820613","display_name":"Louisiana State University","ror":"https://ror.org/05ect4e57","country_code":"US","type":"education","lineage":["https://openalex.org/I121820613"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tauhidul Alam","raw_affiliation_strings":["Department of Computer Science, Louisiana State University, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Louisiana State University, USA","institution_ids":["https://openalex.org/I121820613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084731591","display_name":"Leonardo Bobadilla","orcid":"https://orcid.org/0000-0003-2097-2432"},"institutions":[{"id":"https://openalex.org/I19700959","display_name":"Florida International University","ror":"https://ror.org/02gz6gg07","country_code":"US","type":"education","lineage":["https://openalex.org/I19700959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leonardo Bobadilla","raw_affiliation_strings":["School of Computing and Information Sciences, Florida International University, Miami, FL, USA"],"affiliations":[{"raw_affiliation_string":"School of Computing and Information Sciences, Florida International University, Miami, FL, USA","institution_ids":["https://openalex.org/I19700959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004151873","display_name":"Luis Fetnando Nino","orcid":null},"institutions":[{"id":"https://openalex.org/I36243813","display_name":"Universidad Nacional de Colombia","ror":"https://ror.org/059yx9a68","country_code":"CO","type":"education","lineage":["https://openalex.org/I36243813"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"Luis Fetnando Nino","raw_affiliation_strings":["Universidad Nacional de Colombia - Sede Bogot\u00e1 - Facultad de Ingenier\u00eda - Depto. de Ingenieria de Sistemas e Industrial - cra 4526-85, Bogota, Colombia"],"affiliations":[{"raw_affiliation_string":"Universidad Nacional de Colombia - Sede Bogot\u00e1 - Facultad de Ingenier\u00eda - Depto. de Ingenieria de Sistemas e Industrial - cra 4526-85, Bogota, Colombia","institution_ids":["https://openalex.org/I36243813"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102817383","display_name":"Ryan N. Smith","orcid":"https://orcid.org/0000-0003-3361-8109"},"institutions":[{"id":"https://openalex.org/I149471917","display_name":"Fort Lewis College","ror":"https://ror.org/00aad7q36","country_code":"US","type":"education","lineage":["https://openalex.org/I149471917"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan N. Smith","raw_affiliation_strings":["Department of Physics and Engineering, Fort Lewis College, Durango, CO, USA"],"affiliations":[{"raw_affiliation_string":"Department of Physics and Engineering, Fort Lewis College, Durango, CO, USA","institution_ids":["https://openalex.org/I149471917"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5064423577"],"corresponding_institution_ids":["https://openalex.org/I36243813"],"apc_list":null,"apc_paid":null,"fwci":0.2024,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.54029231,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":95},"biblio":{"volume":"64","issue":null,"first_page":"1175","last_page":"1180"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9973999857902527,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9973000288009644,"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/computer-science","display_name":"Computer science","score":0.7294509410858154},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7077920436859131},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.6762748956680298},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.6458721160888672},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.644292414188385},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.5701417922973633},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49575075507164},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4534606337547302},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4484005570411682},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4240136742591858},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4213825464248657},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.4123896360397339},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3161694407463074},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12918993830680847}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7294509410858154},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7077920436859131},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.6762748956680298},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.6458721160888672},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.644292414188385},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.5701417922973633},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49575075507164},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4534606337547302},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4484005570411682},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4240136742591858},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4213825464248657},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.4123896360397339},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3161694407463074},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12918993830680847},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2019.8843096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2019.8843096","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1424654272","https://openalex.org/W1527181952","https://openalex.org/W1587371456","https://openalex.org/W1971086298","https://openalex.org/W1989019843","https://openalex.org/W2044371775","https://openalex.org/W2054585537","https://openalex.org/W2096546603","https://openalex.org/W2098432798","https://openalex.org/W2100538121","https://openalex.org/W2107726111","https://openalex.org/W2110144538","https://openalex.org/W2118382442","https://openalex.org/W2121863487","https://openalex.org/W2128990851","https://openalex.org/W2132714442","https://openalex.org/W2168992242","https://openalex.org/W2172082560","https://openalex.org/W2313978041","https://openalex.org/W2343568200","https://openalex.org/W2613095649","https://openalex.org/W2752885492","https://openalex.org/W2796009741","https://openalex.org/W2962822210","https://openalex.org/W2963539489","https://openalex.org/W3145128584","https://openalex.org/W4240087212","https://openalex.org/W6605295560","https://openalex.org/W6664169022","https://openalex.org/W6674504709"],"related_works":["https://openalex.org/W2357256365","https://openalex.org/W2348502264","https://openalex.org/W2365486383","https://openalex.org/W2362059367","https://openalex.org/W2350084742","https://openalex.org/W2901443725","https://openalex.org/W2357988862","https://openalex.org/W1855558850","https://openalex.org/W1852677413","https://openalex.org/W2353819887"],"abstract_inverted_index":{"Computing":[0],"plans":[1,23,40],"for":[2,48,78,113],"systems":[3,144],"with":[4,145],"differential":[5],"constraints":[6],"is":[7,36,128,139],"a":[8,28,32,60,65,79,103,106],"fundamental":[9],"component":[10],"in":[11,50,100],"numerous":[12],"robotic":[13],"applications.":[14],"Most":[15],"previous":[16],"approaches":[17],"are":[18],"based":[19],"on":[20],"creating":[21],"motion":[22],"between":[24],"an":[25,126],"initial":[26],"and":[27,92],"goal":[29,119],"location.":[30],"However,":[31],"more":[33],"robust":[34],"approach":[35],"to":[37,46,116,142],"compute":[38],"feedback":[39,66,111],"over":[41],"the":[42,51,71,75,114,118,132],"entire":[43],"configuration":[44],"space":[45],"account":[47],"uncertainty":[49],"robot's":[52,76],"motions.":[53],"In":[54],"this":[55],"paper,":[56],"we":[57],"therefore":[58],"propose":[59],"new":[61],"method":[62,84,99,138],"that":[63],"constructs":[64],"plan":[67,112],"by":[68],"incrementally":[69],"composing":[70],"long-term":[72],"behavior":[73],"of":[74,81,87,125,134],"motions":[77],"set":[80],"actions.":[82],"Our":[83,137],"takes":[85],"advantage":[86],"dynamical":[88],"system":[89],"analysis":[90],"techniques":[91],"efficient":[93],"combinatorial":[94],"algorithms.":[95],"We":[96],"implement":[97],"our":[98,135],"simulations":[101],"considering":[102],"robot":[104,115],"under":[105],"simple":[107],"bouncing":[108],"behavior.":[109],"A":[110],"reach":[117],"region":[120],"starting":[121],"from":[122],"any":[123],"location":[124],"environment":[127],"successfully":[129],"constructed":[130],"using":[131],"implementation":[133],"method.":[136],"also":[140],"applicable":[141],"non-linear":[143],"uncertainty.":[146]},"counts_by_year":[{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
