{"id":"https://openalex.org/W3190941931","doi":"https://doi.org/10.1109/humanoids47582.2021.9555778","title":"Multi-Fidelity Receding Horizon Planning for Multi-Contact Locomotion","display_name":"Multi-Fidelity Receding Horizon Planning for Multi-Contact Locomotion","publication_year":2021,"publication_date":"2021-07-19","ids":{"openalex":"https://openalex.org/W3190941931","doi":"https://doi.org/10.1109/humanoids47582.2021.9555778","mag":"3190941931"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids47582.2021.9555778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555778","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/files/221742670/Multi_Fidelity_Receding_WANG_DOA01052021_AFV.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100449260","display_name":"Jiayi Wang","orcid":"https://orcid.org/0000-0002-1313-138X"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Jiayi Wang","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100326314","display_name":"Sang-Hyun Kim","orcid":"https://orcid.org/0000-0002-0222-8688"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sanghyun Kim","raw_affiliation_strings":["System Engineering Research Division, Korea Institute of Machinery & Materials, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"System Engineering Research Division, Korea Institute of Machinery & Materials, Daejeon, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I4210128584","display_name":"The Alan Turing Institute","ror":"https://ror.org/035dkdb55","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210128584"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["Artificial Intelligence Programme, The Alan Turing Institute, London, United Kingdom","School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Programme, The Alan Turing Institute, London, United Kingdom","institution_ids":["https://openalex.org/I4210128584"]},{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043622443","display_name":"Steve Tonneau","orcid":"https://orcid.org/0000-0003-3001-8693"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Steve Tonneau","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, United Kingdom","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100449260"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":0.8496,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.69755598,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"53","last_page":"60"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9657999873161316,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9557999968528748,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/traverse","display_name":"Traverse","score":0.6084079742431641},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5985324382781982},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5935298800468445},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.5188902020454407},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.5142011642456055},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49492424726486206},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4877358376979828},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.47432941198349},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.46853700280189514},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.44283437728881836},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4366884231567383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33627742528915405},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3228761851787567},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27525508403778076},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1203463077545166}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.6084079742431641},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5985324382781982},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5935298800468445},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.5188902020454407},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.5142011642456055},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49492424726486206},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4877358376979828},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.47432941198349},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.46853700280189514},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.44283437728881836},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4366884231567383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33627742528915405},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3228761851787567},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27525508403778076},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1203463077545166},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/humanoids47582.2021.9555778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555778","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/0f36d8c1-9d3b-4224-91cc-ca7f7d4a99fd","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/0f36d8c1-9d3b-4224-91cc-ca7f7d4a99fd","pdf_url":"https://www.research.ed.ac.uk/files/221742670/Multi_Fidelity_Receding_WANG_DOA01052021_AFV.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wang, J, Kim, S, Vijayakumar, S & Tonneau, S 2021, Multi-Fidelity Receding Horizon Planning for Multi-Contact Locomotion. in 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids). Institute of Electrical and Electronics Engineers, pp. 53-60, 20th IEEE-RAS International Conference on Humanoid Robots, Munich, Bavaria, Germany, 19/07/21. https://doi.org/10.1109/HUMANOIDS47582.2021.9555778","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/0f36d8c1-9d3b-4224-91cc-ca7f7d4a99fd","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11820/0f36d8c1-9d3b-4224-91cc-ca7f7d4a99fd","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wang, J, Kim, S, Vijayakumar, S & Tonneau, S 2021, Multi-Fidelity Receding Horizon Planning for Multi-Contact Locomotion. in 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids). Institute of Electrical and Electronics Engineers, pp. 53-60, 20th IEEE-RAS International Conference on Humanoid Robots, Munich, Bavaria, Germany, 19/07/21. https://doi.org/10.1109/HUMANOIDS47582.2021.9555778","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/0f36d8c1-9d3b-4224-91cc-ca7f7d4a99fd","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/9555778","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/0f36d8c1-9d3b-4224-91cc-ca7f7d4a99fd","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/0f36d8c1-9d3b-4224-91cc-ca7f7d4a99fd","pdf_url":"https://www.research.ed.ac.uk/files/221742670/Multi_Fidelity_Receding_WANG_DOA01052021_AFV.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wang, J, Kim, S, Vijayakumar, S & Tonneau, S 2021, Multi-Fidelity Receding Horizon Planning for Multi-Contact Locomotion. in 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids). Institute of Electrical and Electronics Engineers, pp. 53-60, 20th IEEE-RAS International Conference on Humanoid Robots, Munich, Bavaria, Germany, 19/07/21. https://doi.org/10.1109/HUMANOIDS47582.2021.9555778","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7799999713897705,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1127646451","display_name":null,"funder_award_id":"780684","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G2838024195","display_name":"UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management","funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G2935955246","display_name":null,"funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320313467","funder_display_name":"Alan Turing Institute"},{"id":"https://openalex.org/G4483049737","display_name":null,"funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320334245","funder_display_name":"Offshore Robotics for Certification of Assets"},{"id":"https://openalex.org/G8602921712","display_name":null,"funder_award_id":"EP/R026173","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320313467","display_name":"Alan Turing Institute","ror":"https://ror.org/035dkdb55"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334245","display_name":"Offshore Robotics for Certification of Assets","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3190941931.pdf","grobid_xml":"https://content.openalex.org/works/W3190941931.grobid-xml"},"referenced_works_count":64,"referenced_works":["https://openalex.org/W180478659","https://openalex.org/W1431688706","https://openalex.org/W1502718064","https://openalex.org/W1989094338","https://openalex.org/W1990898645","https://openalex.org/W2004116378","https://openalex.org/W2015149365","https://openalex.org/W2042408133","https://openalex.org/W2061983716","https://openalex.org/W2074042377","https://openalex.org/W2081683070","https://openalex.org/W2087617385","https://openalex.org/W2110194613","https://openalex.org/W2114280243","https://openalex.org/W2133859362","https://openalex.org/W2143729862","https://openalex.org/W2147285788","https://openalex.org/W2161040592","https://openalex.org/W2221321873","https://openalex.org/W2345626358","https://openalex.org/W2399015533","https://openalex.org/W2415458238","https://openalex.org/W2477962321","https://openalex.org/W2486975967","https://openalex.org/W2514689415","https://openalex.org/W2523487622","https://openalex.org/W2569324215","https://openalex.org/W2614308505","https://openalex.org/W2763052367","https://openalex.org/W2767178383","https://openalex.org/W2771691050","https://openalex.org/W2774366155","https://openalex.org/W2788030459","https://openalex.org/W2805883505","https://openalex.org/W2842089854","https://openalex.org/W2897460936","https://openalex.org/W2898796031","https://openalex.org/W2905259751","https://openalex.org/W2909331752","https://openalex.org/W2962943672","https://openalex.org/W3007955606","https://openalex.org/W3049156125","https://openalex.org/W3081791272","https://openalex.org/W3089750699","https://openalex.org/W3093175803","https://openalex.org/W3102212813","https://openalex.org/W3102715624","https://openalex.org/W3103568523","https://openalex.org/W3104730803","https://openalex.org/W3109186372","https://openalex.org/W3130980061","https://openalex.org/W3132444912","https://openalex.org/W3133153804","https://openalex.org/W3181788861","https://openalex.org/W3204882529","https://openalex.org/W4230405224","https://openalex.org/W4246876444","https://openalex.org/W6721904637","https://openalex.org/W6755907941","https://openalex.org/W6767779989","https://openalex.org/W6785929316","https://openalex.org/W6790793576","https://openalex.org/W6790839122","https://openalex.org/W6797971784"],"related_works":["https://openalex.org/W2906267174","https://openalex.org/W134501823","https://openalex.org/W2615656344","https://openalex.org/W2013239059","https://openalex.org/W2295626654","https://openalex.org/W2333245620","https://openalex.org/W4286622840","https://openalex.org/W2536121351","https://openalex.org/W2809608782","https://openalex.org/W1889576908"],"abstract_inverted_index":{"When":[0],"traversing":[1],"uneven":[2,93],"terrain,":[3],"humans":[4],"consider":[5],"their":[6,17],"future":[7],"steps":[8,40],"for":[9,25],"choosing":[10],"the":[11,43,61,69,132,136,148,158,165,188,194],"best":[12,140],"location":[13],"and":[14,45],"timing":[15],"of":[16,47,89,119,131,196],"current":[18],"step.":[19],"Likewise,":[20],"when":[21],"planning":[22,38,55],"multi-contact":[23],"motions":[24],"legged":[26],"robots":[27],"(e.g.":[28],"humanoids),":[29],"a":[30,77,98,108,153,173],"\u2018prediction":[31],"horizon\u2019":[32],"has":[33],"to":[34,59,83,193],"be":[35],"considered.":[36],"However,":[37],"several":[39],"ahead":[41],"increases":[42],"dimensionality":[44],"non-linearity":[46],"an":[48,103],"already":[49],"challenging":[50],"problem,":[51],"which":[52,112],"makes":[53],"online":[54],"intractable.":[56],"We":[57,72,122,162],"propose":[58],"reduce":[60],"problem":[62],"complexity":[63],"by":[64,169],"using":[65],"convex":[66,110,129],"relaxations":[67,130],"in":[68,97,135,178,187],"prediction":[70,137,189],"horizon.":[71,138,161],"realize":[73],"this":[74],"idea":[75],"within":[76],"Receding":[78],"Horizon":[79],"Planning":[80],"(RHP)":[81],"framework":[82],"plan":[84],"dynamically":[85],"consistent":[86],"centroidal":[87,133,167],"trajectories":[88,168],"humanoid":[90],"walking":[91],"on":[92],"terrain.":[94],"This":[95],"results":[96],"novel":[99],"formulation":[100],"that":[101,151,183],"combines":[102],"accurate":[104],"non-convex":[105],"model":[106,120,156],"with":[107,116,128,172],"relaxed":[109],"model,":[111],"we":[113,181],"call":[114],"RHP":[115,150],"multiple":[117],"levels":[118],"fidelity.":[121],"evaluate":[123],"three":[124],"candidate":[125,141],"multi-fidelity":[126,197],"RHPs":[127],"dynamics":[134,155,176,186],"The":[139],"is":[142,191],"1.4x-3.0x":[143],"(average":[144],"2.4x)":[145],"faster":[146],"than":[147],"traditional":[149],"employs":[152],"single":[154],"over":[157],"entire":[159],"look-ahead":[160],"also":[163],"validate":[164],"resultant":[166],"tracking":[170],"them":[171],"whole-body":[174],"inverse":[175],"controller":[177],"simulation.":[179],"Lastly,":[180],"find":[182],"incorporating":[184],"angular":[185],"horizon":[190],"important":[192],"success":[195],"RHP.":[198]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4}],"updated_date":"2026-04-24T08:23:43.765630","created_date":"2025-10-10T00:00:00"}
