{"id":"https://openalex.org/W2410196716","doi":"https://doi.org/10.1109/icra.2016.7487661","title":"Model-predictive control with stochastic collision avoidance using Bayesian policy optimization","display_name":"Model-predictive control with stochastic collision avoidance using Bayesian policy optimization","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2410196716","doi":"https://doi.org/10.1109/icra.2016.7487661","mag":"2410196716"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487661","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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/A5014501729","display_name":"Olov Andersson","orcid":"https://orcid.org/0000-0001-7248-1112"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Olov Andersson","raw_affiliation_strings":["Dept. of Computer and Information Science, Link\u00f6ping University, Link\u00f6ping, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer and Information Science, Link\u00f6ping University, Link\u00f6ping, Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017973088","display_name":"Mariusz Wzorek","orcid":"https://orcid.org/0000-0003-2147-2114"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Mariusz Wzorek","raw_affiliation_strings":["Dept. of Computer and Information Science, Link\u00f6ping University, Link\u00f6ping, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer and Information Science, Link\u00f6ping University, Link\u00f6ping, Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054917035","display_name":"Piotr Rudol","orcid":"https://orcid.org/0000-0003-3392-6742"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Piotr Rudol","raw_affiliation_strings":["Dept. of Computer and Information Science, Link\u00f6ping University, Link\u00f6ping, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer and Information Science, Link\u00f6ping University, Link\u00f6ping, Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043644928","display_name":"Patrick Doherty","orcid":"https://orcid.org/0000-0003-2308-7412"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Patrick Doherty","raw_affiliation_strings":["Dept. of Computer and Information Science, Link\u00f6ping University, Link\u00f6ping, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer and Information Science, Link\u00f6ping University, Link\u00f6ping, Sweden","institution_ids":["https://openalex.org/I102134673"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3662,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.92428581,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4597","last_page":"4604"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9955000281333923,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/collision-avoidance","display_name":"Collision avoidance","score":0.7383944988250732},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7344771027565002},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6873003244400024},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.6602331399917603},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.6186526417732239},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5977087616920471},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5638761520385742},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4771941602230072},{"id":"https://openalex.org/keywords/stochastic-optimization","display_name":"Stochastic optimization","score":0.4736931324005127},{"id":"https://openalex.org/keywords/bayesian-optimization","display_name":"Bayesian optimization","score":0.46681782603263855},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.45277857780456543},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.42970162630081177},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4288123548030853},{"id":"https://openalex.org/keywords/stochastic-control","display_name":"Stochastic control","score":0.4253443777561188},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4206590950489044},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4141741693019867},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37795764207839966},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33295464515686035},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.3112107515335083},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2823679447174072},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14576277136802673},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14480000734329224},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11082476377487183}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7383944988250732},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7344771027565002},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6873003244400024},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.6602331399917603},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.6186526417732239},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5977087616920471},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5638761520385742},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4771941602230072},{"id":"https://openalex.org/C194387892","wikidata":"https://www.wikidata.org/wiki/Q1747770","display_name":"Stochastic optimization","level":2,"score":0.4736931324005127},{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.46681782603263855},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.45277857780456543},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.42970162630081177},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4288123548030853},{"id":"https://openalex.org/C170131372","wikidata":"https://www.wikidata.org/wiki/Q7617811","display_name":"Stochastic control","level":3,"score":0.4253443777561188},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4206590950489044},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4141741693019867},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37795764207839966},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33295464515686035},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3112107515335083},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2823679447174072},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14576277136802673},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14480000734329224},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11082476377487183},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487661","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1701825639","https://openalex.org/W1738827650","https://openalex.org/W1746819321","https://openalex.org/W2002440441","https://openalex.org/W2012392077","https://openalex.org/W2012587148","https://openalex.org/W2013439434","https://openalex.org/W2024802078","https://openalex.org/W2026079951","https://openalex.org/W2032681112","https://openalex.org/W2067778155","https://openalex.org/W2072195747","https://openalex.org/W2097639646","https://openalex.org/W2098432798","https://openalex.org/W2098754650","https://openalex.org/W2127107099","https://openalex.org/W2127617835","https://openalex.org/W2127788848","https://openalex.org/W2131792768","https://openalex.org/W2132004142","https://openalex.org/W2147756883","https://openalex.org/W2148961728","https://openalex.org/W2155974215","https://openalex.org/W2157304242","https://openalex.org/W2158370675","https://openalex.org/W2164429173","https://openalex.org/W2962687950","https://openalex.org/W3101207396","https://openalex.org/W4205513846","https://openalex.org/W4211049957","https://openalex.org/W6637653338","https://openalex.org/W6653900354","https://openalex.org/W6679445762"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2158873045","https://openalex.org/W2989144681","https://openalex.org/W1734617322","https://openalex.org/W2950103693","https://openalex.org/W4297923596","https://openalex.org/W2516831108","https://openalex.org/W2835371103","https://openalex.org/W2953626406"],"abstract_inverted_index":{"Robots":[0],"are":[1,56],"increasingly":[2],"expected":[3],"to":[4,95,103,119,129,152],"move":[5],"out":[6],"of":[7,11,29,142,167],"the":[8,139,155,177],"controlled":[9],"environment":[10],"research":[12],"labs":[13],"and":[14,18,25,52,74],"into":[15],"populated":[16],"streets":[17],"workplaces.":[19],"Collision":[20],"avoidance":[21,39,73],"in":[22,59,149,179],"such":[23],"cluttered":[24],"dynamic":[26,78],"environments":[27],"is":[28,40,101],"increasing":[30],"importance":[31],"as":[32,181,183],"robots":[33],"gain":[34],"more":[35],"autonomy.":[36],"However,":[37],"efficient":[38,108],"fundamentally":[41],"difficult":[42,102],"since":[43],"computing":[44],"safe":[45],"trajectories":[46],"may":[47],"require":[48],"considering":[49],"both":[50,71],"dynamics":[51],"uncertainty.":[53],"While":[54],"heuristics":[55],"often":[57],"used":[58],"practice,":[60],"we":[61,162],"take":[62],"a":[63,164,173],"holistic":[64],"stochastic":[65,92,140],"trajectory":[66],"optimization":[67,151,159],"perspective":[68],"that":[69,90],"merges":[70],"collision":[72],"control.":[75,125],"We":[76,88,105,117,145,175],"examine":[77],"obstacles":[79],"moving":[80],"without":[81],"prior":[82],"coordination,":[83],"like":[84],"pedestrians":[85],"or":[86],"vehicles.":[87],"find":[89],"common":[91],"simplifications":[93],"lead":[94],"poor":[96],"approximations":[97,109],"when":[98],"obstacle":[99,169],"behavior":[100],"predict.":[104],"instead":[106],"compute":[107],"by":[110],"drawing":[111],"upon":[112],"techniques":[113],"from":[114],"machine":[115],"learning.":[116],"propose":[118],"combine":[120],"policy":[121,158],"search":[122],"with":[123,184],"model-predictive":[124,134],"This":[126],"allows":[127],"us":[128],"use":[130],"recent":[131,147],"fast":[132],"constrained":[133],"control":[135],"solvers,":[136],"while":[137],"gaining":[138],"properties":[141],"policy-based":[143],"methods.":[144],"exploit":[146],"advances":[148],"Bayesian":[150],"efficiently":[153],"solve":[154],"resulting":[156],"probabilistically-constrained":[157],"problems.":[160],"Finally,":[161],"present":[163],"real-time":[165],"implementation":[166],"an":[168],"avoiding":[170],"controller":[171],"for":[172],"quadcopter.":[174],"demonstrate":[176],"results":[178],"simulation":[180],"well":[182],"real":[185],"flight":[186],"experiments.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}