{"id":"https://openalex.org/W1567764175","doi":"https://doi.org/10.1109/icra.2015.7139519","title":"Maximizing fisher information using discrete mechanics and projection-based trajectory optimization","display_name":"Maximizing fisher information using discrete mechanics and projection-based trajectory optimization","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1567764175","doi":"https://doi.org/10.1109/icra.2015.7139519","mag":"1567764175"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139519","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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":"https://openalex.org/A5100692086","display_name":"Andrew Wilson","orcid":"https://orcid.org/0000-0002-6473-7234"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew D. Wilson","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","Department of Mechanical Engineering, Northwestern University, 2145 Sheridan Road, Evanston, Il. 60208 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, 2145 Sheridan Road, Evanston, Il. 60208 USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067725461","display_name":"Todd D. Murphey","orcid":"https://orcid.org/0000-0003-2262-8176"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Todd D. Murphey","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","Department of Mechanical Engineering, Northwestern University, 2145 Sheridan Road, Evanston, Il. 60208 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, 2145 Sheridan Road, Evanston, Il. 60208 USA","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I111979921"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.9977999925613403,"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"}},"topics":[{"id":"https://openalex.org/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.9977999925613403,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9951000213623047,"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/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.9916999936103821,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/fisher-information","display_name":"Fisher information","score":0.7000195384025574},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6163744926452637},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5466578006744385},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.531114399433136},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.48506465554237366},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4784710109233856},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.4767744839191437},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4719359576702118},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.43418434262275696},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4281266927719116},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.42012926936149597},{"id":"https://openalex.org/keywords/discrete-time-and-continuous-time","display_name":"Discrete time and continuous time","score":0.41666659712791443},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4066079258918762},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.37721017003059387},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.17019328474998474},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.10950636863708496}],"concepts":[{"id":"https://openalex.org/C29406490","wikidata":"https://www.wikidata.org/wiki/Q1420659","display_name":"Fisher information","level":2,"score":0.7000195384025574},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6163744926452637},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5466578006744385},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.531114399433136},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.48506465554237366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4784710109233856},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.4767744839191437},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4719359576702118},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.43418434262275696},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4281266927719116},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.42012926936149597},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.41666659712791443},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4066079258918762},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.37721017003059387},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.17019328474998474},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.10950636863708496},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139519","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.704.1850","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.704.1850","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://nxr.northwestern.edu/sites/default/files/publications/awilson_icra2015.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320337391","display_name":"Division of Civil, Mechanical and Manufacturing Innovation","ror":"https://ror.org/028yd4c30"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1667632928","https://openalex.org/W1708025600","https://openalex.org/W1969811075","https://openalex.org/W1987940649","https://openalex.org/W1989506746","https://openalex.org/W1999484566","https://openalex.org/W2011159118","https://openalex.org/W2014853060","https://openalex.org/W2015913913","https://openalex.org/W2033574792","https://openalex.org/W2078856056","https://openalex.org/W2088102099","https://openalex.org/W2095782953","https://openalex.org/W2116910902","https://openalex.org/W2120662572","https://openalex.org/W2120807332","https://openalex.org/W2141537501","https://openalex.org/W2148319451","https://openalex.org/W2151186798","https://openalex.org/W2159537373","https://openalex.org/W2166060128","https://openalex.org/W2170039048","https://openalex.org/W2188921815","https://openalex.org/W2238582461","https://openalex.org/W2271088467","https://openalex.org/W2947056241","https://openalex.org/W2963219234","https://openalex.org/W3101012640","https://openalex.org/W3102902898","https://openalex.org/W4234431895","https://openalex.org/W4285719527","https://openalex.org/W6637350903","https://openalex.org/W6650404023"],"related_works":["https://openalex.org/W3012088032","https://openalex.org/W2238904537","https://openalex.org/W2776312158","https://openalex.org/W1965458961","https://openalex.org/W2042150869","https://openalex.org/W3185610468","https://openalex.org/W4294328901","https://openalex.org/W2952582351","https://openalex.org/W3175371768","https://openalex.org/W2153568439"],"abstract_inverted_index":{"This":[0],"paper":[1],"reformulates":[2],"an":[3,66],"optimization":[4,51],"algorithm":[5,100],"previously":[6],"presented":[7],"in":[8,46,110,124,129],"continuous-time":[9,116],"to":[10,25,69,81,97,141],"one":[11],"using":[12,40],"structured":[13,16],"integration":[14],"and":[15],"linearization":[17],"methods":[18],"from":[19,74,114],"discrete":[20,83],"mechanics.":[21],"The":[22],"objective":[23],"is":[24,63],"synthesize":[26],"trajectories":[27],"for":[28],"dynamic":[29],"robotic":[30],"systems":[31],"that":[32,78],"improve":[33],"the":[34,71,75,79,87,98,103,111,115,119,122,125,136],"estimation":[35],"of":[36,55,93,107,135,144],"model":[37],"parameters":[38],"by":[39,90,139],"a":[41,47,56,59,82,91,130,142],"metric":[42],"on":[43],"Fisher":[44,112,126],"information":[45,113,127],"nonlinear":[48],"projection-based":[49],"trajectory":[50],"algorithm.":[52,72],"A":[53],"simulation":[54,76],"robot":[57],"with":[58],"suspended":[60],"double":[61],"pendulum":[62],"used":[64],"as":[65],"example":[67],"system":[68],"illustrate":[70],"Results":[73],"show":[77],"change":[80],"mechanics":[84],"formulation":[85],"reduces":[86],"computation":[88],"time":[89],"factor":[92,143],"19":[94],"when":[95],"compared":[96],"continuous":[99],"while":[101],"maintaining":[102],"same":[104],"two":[105],"orders":[106],"magnitude":[108],"improvement":[109,123],"formulation.":[117],"Through":[118],"Cramer-Rao":[120],"bound,":[121],"results":[128],"maximum":[131],"expected":[132],"error":[133],"reduction":[134],"parameter":[137],"estimates":[138],"up":[140],"10":[145],"<sup":[146],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[147],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[148],".":[149]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}