{"id":"https://openalex.org/W2894593111","doi":"https://doi.org/10.1109/icra.2019.8794006","title":"Closed-loop MPC with Dense Visual SLAM - Stability through Reactive Stepping","display_name":"Closed-loop MPC with Dense Visual SLAM - Stability through Reactive Stepping","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2894593111","doi":"https://doi.org/10.1109/icra.2019.8794006","mag":"2894593111"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794006","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-02060786","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068159381","display_name":"Arnaud Tanguy","orcid":"https://orcid.org/0000-0002-9670-2693"},"institutions":[{"id":"https://openalex.org/I4210126779","display_name":"Observatoire de la C\u00f4te d\u2019Azur","ror":"https://ror.org/039fj2469","country_code":"FR","type":"facility","lineage":["https://openalex.org/I201841394","https://openalex.org/I4210126779"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I201841394","display_name":"Universit\u00e9 C\u00f4te d'Azur","ror":"https://ror.org/019tgvf94","country_code":"FR","type":"education","lineage":["https://openalex.org/I201841394"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Arnaud Tanguy","raw_affiliation_strings":["LIRMM, Interactive Digital Humans, CNRS-University of Montpellier, France","Interactive Digital Humans","Signal, Images et Syst\u00e8mes","Centre National de la Recherche Scientifique","Universit\u00e9 C\u00f4te d'Azur"],"affiliations":[{"raw_affiliation_string":"LIRMM, Interactive Digital Humans, CNRS-University of Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Interactive Digital Humans","institution_ids":[]},{"raw_affiliation_string":"Signal, Images et Syst\u00e8mes","institution_ids":[]},{"raw_affiliation_string":"Centre National de la Recherche Scientifique","institution_ids":["https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Universit\u00e9 C\u00f4te d'Azur","institution_ids":["https://openalex.org/I4210126779","https://openalex.org/I201841394"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000560511","display_name":"Daniele De Simone","orcid":"https://orcid.org/0000-0003-2948-5307"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele De Simone","raw_affiliation_strings":["Sapienza University of Rome, DIAG, Italy","Dipartimento di Ingegneria informatica automatica e gestionale [Roma]","Universit\u00e0 degli Studi di Roma \"La Sapienza\" = Sapienza University [Rome]"],"affiliations":[{"raw_affiliation_string":"Sapienza University of Rome, DIAG, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Dipartimento di Ingegneria informatica automatica e gestionale [Roma]","institution_ids":[]},{"raw_affiliation_string":"Universit\u00e0 degli Studi di Roma \"La Sapienza\" = Sapienza University [Rome]","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066992384","display_name":"Andrew I. Comport","orcid":"https://orcid.org/0000-0002-3959-3195"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210126779","display_name":"Observatoire de la C\u00f4te d\u2019Azur","ror":"https://ror.org/039fj2469","country_code":"FR","type":"facility","lineage":["https://openalex.org/I201841394","https://openalex.org/I4210126779"]},{"id":"https://openalex.org/I201841394","display_name":"Universit\u00e9 C\u00f4te d'Azur","ror":"https://ror.org/019tgvf94","country_code":"FR","type":"education","lineage":["https://openalex.org/I201841394"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andrew I. Comport","raw_affiliation_strings":["CNRS-University of Nice Sophia Antipolis, I3S, France","Centre National de la Recherche Scientifique","Universit\u00e9 C\u00f4te d'Azur","Signal, Images et Syst\u00e8mes","Universit\u00e9 Nice Sophia Antipolis (1965 - 2019)"],"affiliations":[{"raw_affiliation_string":"CNRS-University of Nice Sophia Antipolis, I3S, France","institution_ids":["https://openalex.org/I201841394","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Centre National de la Recherche Scientifique","institution_ids":["https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Universit\u00e9 C\u00f4te d'Azur","institution_ids":["https://openalex.org/I4210126779","https://openalex.org/I201841394"]},{"raw_affiliation_string":"Signal, Images et Syst\u00e8mes","institution_ids":[]},{"raw_affiliation_string":"Universit\u00e9 Nice Sophia Antipolis (1965 - 2019)","institution_ids":["https://openalex.org/I201841394"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085865201","display_name":"Giuseppe Oriolo","orcid":"https://orcid.org/0000-0001-6153-9278"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Oriolo","raw_affiliation_strings":["Sapienza University of Rome, DIAG, Italy","Dipartimento di Ingegneria informatica automatica e gestionale [Roma]","Universit\u00e0 degli Studi di Roma \"La Sapienza\" = Sapienza University [Rome]"],"affiliations":[{"raw_affiliation_string":"Sapienza University of Rome, DIAG, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Dipartimento di Ingegneria informatica automatica e gestionale [Roma]","institution_ids":[]},{"raw_affiliation_string":"Universit\u00e0 degli Studi di Roma \"La Sapienza\" = Sapienza University [Rome]","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067136188","display_name":"Abderrahmane Kheddar","orcid":"https://orcid.org/0000-0001-9033-9742"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR","US"],"is_corresponding":false,"raw_author_name":"Abderrahmane Kheddar","raw_affiliation_strings":["LIRMM, Interactive Digital Humans, CNRS-University of Montpellier, France","Interactive Digital Humans","Joint Robotics Laboratory"],"affiliations":[{"raw_affiliation_string":"LIRMM, Interactive Digital Humans, CNRS-University of Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Interactive Digital Humans","institution_ids":[]},{"raw_affiliation_string":"Joint Robotics Laboratory","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5068159381"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I201841394","https://openalex.org/I4210101743","https://openalex.org/I4210126779"],"apc_list":null,"apc_paid":null,"fwci":1.1737,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.75954119,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1397","last_page":"1403"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9970999956130981,"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/T10441","display_name":"Muscle Physiology and Disorders","score":0.9800000190734863,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7789056301116943},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7596395611763},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.719506025314331},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.635614812374115},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6307874917984009},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6207356452941895},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4646441638469696},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43763527274131775},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4275650084018707},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.38170674443244934},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3534408211708069},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31735992431640625},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24784430861473083},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1836618185043335},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10142695903778076}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7789056301116943},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7596395611763},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.719506025314331},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.635614812374115},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6307874917984009},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6207356452941895},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4646441638469696},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43763527274131775},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4275650084018707},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.38170674443244934},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3534408211708069},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31735992431640625},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24784430861473083},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1836618185043335},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10142695903778076},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2019.8794006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794006","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02060786v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02060786","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"https://icra2019.org","raw_type":"Conference papers"},{"id":"pmh:oai:iris.uniroma1.it:11573/1325859","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/1325859","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02060786v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02060786","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"https://icra2019.org","raw_type":"Conference papers"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6200000047683716,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W566530810","https://openalex.org/W1538701695","https://openalex.org/W1716229439","https://openalex.org/W1976272837","https://openalex.org/W1979061520","https://openalex.org/W1999684857","https://openalex.org/W2016045532","https://openalex.org/W2086853455","https://openalex.org/W2087485438","https://openalex.org/W2095143145","https://openalex.org/W2109606373","https://openalex.org/W2204100769","https://openalex.org/W2250172176","https://openalex.org/W2255696229","https://openalex.org/W2333533581","https://openalex.org/W2539915646","https://openalex.org/W2545165891","https://openalex.org/W2563439850","https://openalex.org/W2564178275","https://openalex.org/W2568656471","https://openalex.org/W2768163621","https://openalex.org/W2774377244","https://openalex.org/W2774394625","https://openalex.org/W2808004181","https://openalex.org/W3004837582","https://openalex.org/W4248327382","https://openalex.org/W6637636807"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2120821724","https://openalex.org/W2129850190","https://openalex.org/W2350715914","https://openalex.org/W4256317079","https://openalex.org/W1859914877","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"Walking":[0],"gaits":[1],"generated":[2,160],"using":[3],"Model":[4],"Predictive":[5],"Control":[6],"(MPC)":[7],"is":[8,94,118,123],"widely":[9],"used":[10],"due":[11],"to":[12,15,35,46,50,82,84,96,125,127,133,146,148],"its":[13,48],"capability":[14],"handle":[16],"several":[17],"constraints":[18],"that":[19,120],"characterize":[20],"humanoid":[21,178],"locomotion.":[22],"The":[23],"use":[24],"of":[25,71,138],"simplified":[26],"models":[27],"such":[28],"as":[29],"the":[30,41,43,61,68,72,76,80,98,113,121,136,141,144,152,158,168],"Linear":[31],"Inverted":[32],"Pendulum":[33],"allows":[34,143],"perform":[36],"computations":[37],"in":[38,151],"real-time,":[39],"giving":[40],"robot":[42,73,122,145],"fundamental":[44],"capacity":[45],"replan":[47],"motion":[49],"follow":[51],"external":[52,85,128],"inputs":[53],"(e.g.":[54],"reference":[55,77],"velocity,":[56],"footstep":[57],"plans).":[58],"However,":[59],"usually":[60],"MPC":[62,92],"does":[63],"not":[64],"take":[65],"into":[66],"account":[67],"current":[69],"state":[70,101],"when":[74],"computing":[75],"motion,":[78],"losing":[79],"ability":[81],"react":[83,126],"disturbances.":[86],"In":[87],"this":[88],"paper":[89],"a":[90,176],"closed-loop":[91],"scheme":[93,116,170],"proposed":[95,114,169],"estimate":[97],"robot's":[99],"real":[100],"through":[102,171],"Simultaneous":[103],"Localization":[104],"and":[105,108],"Mapping":[106],"(SLAM)":[107],"proprioceptive":[109],"sensors":[110],"(force/torque).":[111],"With":[112],"control":[115,164],"it":[117],"shown":[119],"able":[124],"disturbances":[129],"(push),":[130],"by":[131,157,161],"stepping":[132],"recover":[134],"from":[135],"loss":[137],"balance.":[139],"Moreover":[140],"localization":[142],"navigate":[147],"target":[149],"positions":[150],"environment":[153],"without":[154],"being":[155],"affected":[156],"drift":[159],"imperfect":[162],"open-loop":[163],"execution.":[165],"We":[166],"validate":[167],"two":[172],"different":[173],"experiments":[174],"with":[175],"HRP-4":[177],"robot.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}