{"id":"https://openalex.org/W4403534406","doi":"https://doi.org/10.1109/codit62066.2024.10708603","title":"Reward Planning For Underactuated Robotic Systems With Parameters Uncertainty: Greedy-Divide and Conquer","display_name":"Reward Planning For Underactuated Robotic Systems With Parameters Uncertainty: Greedy-Divide and Conquer","publication_year":2024,"publication_date":"2024-07-01","ids":{"openalex":"https://openalex.org/W4403534406","doi":"https://doi.org/10.1109/codit62066.2024.10708603"},"language":"en","primary_location":{"id":"doi:10.1109/codit62066.2024.10708603","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit62066.2024.10708603","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Control, Decision and Information Technologies (CoDIT)","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":null,"display_name":"Sinan Ibrahim","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Sinan Ibrahim","raw_affiliation_strings":["Skolkovo Institute for Science and Technology,Center for Digital Engineering,Moscow,Russia,121205"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute for Science and Technology,Center for Digital Engineering,Moscow,Russia,121205","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023238359","display_name":"S. M. Ahsan Kazmi","orcid":"https://orcid.org/0000-0001-7138-8258"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210087747","display_name":"Creative Technologies (United States)","ror":"https://ror.org/001qkb777","country_code":"US","type":"company","lineage":["https://openalex.org/I4210087747"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"S. M. Ahsan Kazmi","raw_affiliation_strings":["University of the West of England (UWE),School of Computing and Creative Technologies,Bristol"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of the West of England (UWE),School of Computing and Creative Technologies,Bristol","institution_ids":["https://openalex.org/I178535277","https://openalex.org/I4210087747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051035411","display_name":"Dmitrii Dobriborsci","orcid":"https://orcid.org/0000-0002-1091-7459"},"institutions":[{"id":"https://openalex.org/I83041830","display_name":"Deggendorf Institute of Technology","ror":"https://ror.org/02kw5st29","country_code":"DE","type":"education","lineage":["https://openalex.org/I83041830"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dmitrii Dobriborsci","raw_affiliation_strings":["Technology Campus Cham,Deggendorf Institute of Technology,Cham,93413"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technology Campus Cham,Deggendorf Institute of Technology,Cham,93413","institution_ids":["https://openalex.org/I83041830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013837266","display_name":"Roman Zashchitin","orcid":null},"institutions":[{"id":"https://openalex.org/I83041830","display_name":"Deggendorf Institute of Technology","ror":"https://ror.org/02kw5st29","country_code":"DE","type":"education","lineage":["https://openalex.org/I83041830"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Roman Zashchitin","raw_affiliation_strings":["Technology Campus Cham,Deggendorf Institute of Technology,Cham,93413"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technology Campus Cham,Deggendorf Institute of Technology,Cham,93413","institution_ids":["https://openalex.org/I83041830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102483795","display_name":"Mostafa Mostafa","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Mostafa Mostafa","raw_affiliation_strings":["Skolkovo Institute for Science and Technology,Center for Digital Engineering,Moscow,Russia,121205"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute for Science and Technology,Center for Digital Engineering,Moscow,Russia,121205","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065280230","display_name":"Pavel Osinenko","orcid":"https://orcid.org/0000-0002-6184-3293"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Pavel Osinenko","raw_affiliation_strings":["Skolkovo Institute for Science and Technology,Center for Digital Engineering,Moscow,Russia,121205"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute for Science and Technology,Center for Digital Engineering,Moscow,Russia,121205","institution_ids":["https://openalex.org/I125989756"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6814,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.67487685,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"33","issue":null,"first_page":"1518","last_page":"1523"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9804999828338623,"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"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9804999828338623,"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/T10126","display_name":"Logic, programming, and type systems","score":0.9417999982833862,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9326000213623047,"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/divide-and-conquer-algorithms","display_name":"Divide and conquer algorithms","score":0.8815357685089111},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6780493259429932},{"id":"https://openalex.org/keywords/greedy-algorithm","display_name":"Greedy algorithm","score":0.6433305740356445},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4362429976463318},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32378190755844116},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1794019341468811},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1576918661594391}],"concepts":[{"id":"https://openalex.org/C71559656","wikidata":"https://www.wikidata.org/wiki/Q671298","display_name":"Divide and conquer algorithms","level":2,"score":0.8815357685089111},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6780493259429932},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.6433305740356445},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4362429976463318},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32378190755844116},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1794019341468811},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1576918661594391}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit62066.2024.10708603","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit62066.2024.10708603","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1087957980","https://openalex.org/W1965871506","https://openalex.org/W1978732706","https://openalex.org/W2013232999","https://openalex.org/W2018468993","https://openalex.org/W2064463129","https://openalex.org/W2104526204","https://openalex.org/W2120402931","https://openalex.org/W2125382069","https://openalex.org/W2140907765","https://openalex.org/W2181209561","https://openalex.org/W2539083524","https://openalex.org/W2955758852","https://openalex.org/W2967515279","https://openalex.org/W3005709158","https://openalex.org/W3124981469","https://openalex.org/W3155818342","https://openalex.org/W3164005523","https://openalex.org/W4225492787","https://openalex.org/W4388191133","https://openalex.org/W6741002519","https://openalex.org/W6785204124","https://openalex.org/W6846310611","https://openalex.org/W6854717314"],"related_works":["https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2899084033","https://openalex.org/W2778153218","https://openalex.org/W2748952813","https://openalex.org/W1531601525","https://openalex.org/W2389640906","https://openalex.org/W4312077400"],"abstract_inverted_index":{"Traditional":[0],"control":[1,15,37],"approaches":[2],"for":[3,50,72],"robotic":[4,52,74],"systems,":[5],"such":[6],"as":[7],"linear":[8],"quadratic":[9],"regulator":[10],"(LQR)":[11],"or":[12],"model":[13,22],"predictive":[14],"(MPC),":[16],"often":[17],"rely":[18],"on":[19],"a":[20,33,59,83,95,108,119],"known":[21],"of":[23,36,103,142],"the":[24,28,67,101,131,140],"environment.":[25],"However,":[26],"in":[27,139],"real":[29],"world,":[30],"uncertainty":[31],"is":[32,128],"common":[34],"feature":[35],"problems":[38],"hence":[39],"models":[40],"have":[41],"imperfections.":[42],"In":[43],"this":[44,92],"work,":[45],"we":[46],"address":[47,100],"reward":[48,68],"engineering":[49],"underactuated":[51,73],"systems":[53,75],"with":[54,76,94,111,118,121],"parameter":[55,77],"uncertainty.":[56,78,124],"We":[57,79,90],"introduce":[58],"novel":[60],"reinforcement":[61],"learning":[62],"(RL)":[63],"method":[64],"to":[65,99,129,134],"plan":[66],"function,":[69],"specifically":[70],"designed":[71],"present":[80],"and":[81,88,106,114,136],"validate":[82],"new":[84],"algorithm":[85,93],"called":[86],"Greedy-Divide":[87],"Conquer.":[89],"implement":[91],"single":[96],"RL":[97],"agent":[98],"challenge":[102],"swinging":[104],"up":[105],"balancing":[107],"Pendubot":[109],"system":[110],"uncertain":[112],"parameters":[113],"give":[115],"another":[116],"example":[117],"2D-Drone":[120],"body":[122],"mass":[123],"Our":[125],"ultimate":[126],"objective":[127],"enhance":[130],"system\u2019s":[132],"ability":[133],"adapt":[135],"perform":[137],"reliably":[138],"face":[141],"varying":[143],"uncertainties.":[144]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
