{"id":"https://openalex.org/W3122585211","doi":"https://doi.org/10.1109/globecom42002.2020.9322236","title":"Optimal Navigation Control Design for Biomedical Untethered Microrobot with Network-induced Delays","display_name":"Optimal Navigation Control Design for Biomedical Untethered Microrobot with Network-induced Delays","publication_year":2020,"publication_date":"2020-12-01","ids":{"openalex":"https://openalex.org/W3122585211","doi":"https://doi.org/10.1109/globecom42002.2020.9322236","mag":"3122585211"},"language":"en","primary_location":{"id":"doi:10.1109/globecom42002.2020.9322236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/globecom42002.2020.9322236","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"GLOBECOM 2020 - 2020 IEEE Global Communications Conference","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/A5084779219","display_name":"Zhuwei Wang","orcid":"https://orcid.org/0000-0002-2880-3329"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zhuwei Wang","raw_affiliation_strings":["Beijing Laboratory of Advanced Information Networks, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Laboratory of Advanced Information Networks, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030076109","display_name":"Qiqing Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiqing Chang","raw_affiliation_strings":["Faculty of Information Technology, Beijing University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Information Technology, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101436134","display_name":"Xiaojie Huang","orcid":"https://orcid.org/0000-0002-7815-8305"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaojie Huang","raw_affiliation_strings":["Faculty of Information Technology, Beijing University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Information Technology, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062252654","display_name":"Chao Fang","orcid":"https://orcid.org/0000-0002-3989-3964"},"institutions":[{"id":"https://openalex.org/I4210155350","display_name":"Purple Mountain Laboratories","ror":"https://ror.org/04zcbk583","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210155350"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Fang","raw_affiliation_strings":["Purple Mountain Laboratory: Networking, Communications and Security, Nanjing, P.R. China"],"affiliations":[{"raw_affiliation_string":"Purple Mountain Laboratory: Networking, Communications and Security, Nanjing, P.R. China","institution_ids":["https://openalex.org/I4210155350"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100693487","display_name":"Ruizhe Yang","orcid":"https://orcid.org/0000-0003-0582-4079"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruizhe Yang","raw_affiliation_strings":["Faculty of Information Technology, Beijing University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Information Technology, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078206254","display_name":"Enchang Sun","orcid":"https://orcid.org/0000-0001-9285-0077"},"institutions":[{"id":"https://openalex.org/I37796252","display_name":"Beijing University of Technology","ror":"https://ror.org/037b1pp87","country_code":"CN","type":"education","lineage":["https://openalex.org/I37796252"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Enchang Sun","raw_affiliation_strings":["Faculty of Information Technology, Beijing University of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Faculty of Information Technology, Beijing University of Technology, Beijing, China","institution_ids":["https://openalex.org/I37796252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5084779219"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13719494,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13052","display_name":"Molecular Communication and Nanonetworks","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9732999801635742,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/trajectory","display_name":"Trajectory","score":0.6651476621627808},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6163393259048462},{"id":"https://openalex.org/keywords/recursion","display_name":"Recursion (computer science)","score":0.6039614677429199},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5370209813117981},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5069541931152344},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49884724617004395},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4922854006290436},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48015207052230835},{"id":"https://openalex.org/keywords/interval","display_name":"Interval (graph theory)","score":0.42443808913230896},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.42438286542892456},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.368827223777771},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.298825740814209},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.24122539162635803},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.20973053574562073},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14742961525917053},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1456606686115265}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6651476621627808},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6163393259048462},{"id":"https://openalex.org/C168773036","wikidata":"https://www.wikidata.org/wiki/Q264164","display_name":"Recursion (computer science)","level":2,"score":0.6039614677429199},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5370209813117981},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5069541931152344},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49884724617004395},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4922854006290436},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48015207052230835},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.42443808913230896},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.42438286542892456},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.368827223777771},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.298825740814209},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.24122539162635803},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.20973053574562073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14742961525917053},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1456606686115265},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/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":1,"locations":[{"id":"doi:10.1109/globecom42002.2020.9322236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/globecom42002.2020.9322236","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"GLOBECOM 2020 - 2020 IEEE Global Communications Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326444","display_name":"Nova","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1973775056","https://openalex.org/W1976221960","https://openalex.org/W1987336727","https://openalex.org/W1988616781","https://openalex.org/W1999448703","https://openalex.org/W2041266323","https://openalex.org/W2056238687","https://openalex.org/W2084829069","https://openalex.org/W2105149720","https://openalex.org/W2158453737","https://openalex.org/W2171795952","https://openalex.org/W2302167001","https://openalex.org/W2316793173","https://openalex.org/W2511045590","https://openalex.org/W2742427367","https://openalex.org/W2792612386","https://openalex.org/W2808320461","https://openalex.org/W2902371444","https://openalex.org/W2963208336","https://openalex.org/W2963367651","https://openalex.org/W2969429360","https://openalex.org/W3002861906"],"related_works":["https://openalex.org/W1976679120","https://openalex.org/W4281614748","https://openalex.org/W2377519369","https://openalex.org/W2765883196","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"In":[0,73],"this":[1],"paper,":[2],"the":[3,23,27,37,43,52,56,79,88],"optimal":[4,44,80],"navigation":[5,40,45],"control":[6,63,81,89],"design":[7],"for":[8,75],"biomedical":[9],"untethered":[10],"microrobot":[11,28,39,53],"is":[12,48,65,83],"comprehensively":[13],"investigated":[14],"in":[15,95],"discrete-time":[16],"domain":[17],"with":[18],"stochastic":[19],"network-induced":[20],"delays.":[21],"First,":[22],"error":[24],"dynamics":[25],"of":[26],"tracking":[29],"location":[30],"and":[31,60,87],"velocity":[32],"are":[33],"analyzed":[34],"based":[35],"on":[36],"3D-based":[38],"modeling.":[41],"Then,":[42],"optimization":[46],"problem":[47],"formulated":[49],"to":[50,54],"regulate":[51],"achieve":[55],"target":[57],"reference":[58],"trajectory,":[59],"a":[61,69,96],"two-step":[62],"algorithm":[64],"proposed":[66],"by":[67],"using":[68],"backward":[70],"recursion":[71],"method.":[72],"particular,":[74],"each":[76],"sampling":[77],"interval,":[78],"gain":[82],"iteratively":[84],"derived":[85],"off-line":[86],"strategy":[90],"can":[91],"be":[92],"calculated":[93],"on-line":[94],"real-time":[97],"fashion.":[98]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
