{"id":"https://openalex.org/W3189294992","doi":"https://doi.org/10.1109/icra48506.2021.9560816","title":"Online velocity fluctuation of off-road wheeled mobile robots: A reinforcement learning approach","display_name":"Online velocity fluctuation of off-road wheeled mobile robots: A reinforcement learning approach","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3189294992","doi":"https://doi.org/10.1109/icra48506.2021.9560816","mag":"3189294992"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560816","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://cea.hal.science/cea-03314555v1/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004756471","display_name":"Francois Gauthier-Clerc","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I4210128565","display_name":"CEA Paris-Saclay","ror":"https://ror.org/03n15ch10","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210128565"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Francois Gauthier-Clerc","raw_affiliation_strings":["Universit\u00e9 Paris-Saclay, CEA, Palaiseau, France","DIASI (CEA, LIST) - D\u00e9partement Intelligence Ambiante et Syst\u00e8mes Interactifs (CEA Saclay - Nanoinnov 91191 Gif-Sur-Yvette Cedex - France)"],"affiliations":[{"raw_affiliation_string":"Universit\u00e9 Paris-Saclay, CEA, Palaiseau, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2738703131","https://openalex.org/I4210128565"]},{"raw_affiliation_string":"DIASI (CEA, LIST) - D\u00e9partement Intelligence Ambiante et Syst\u00e8mes Interactifs (CEA Saclay - Nanoinnov 91191 Gif-Sur-Yvette Cedex - France)","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210128565"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048357111","display_name":"Ashley Hill","orcid":"https://orcid.org/0000-0002-8893-8348"},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I4210128565","display_name":"CEA Paris-Saclay","ror":"https://ror.org/03n15ch10","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210128565"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ashley Hill","raw_affiliation_strings":["Universit\u00e9 Paris-Saclay, CEA, Palaiseau, France","DIASI (CEA, LIST) - D\u00e9partement Intelligence Ambiante et Syst\u00e8mes Interactifs (CEA Saclay - Nanoinnov 91191 Gif-Sur-Yvette Cedex - France)"],"affiliations":[{"raw_affiliation_string":"Universit\u00e9 Paris-Saclay, CEA, Palaiseau, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2738703131","https://openalex.org/I4210128565"]},{"raw_affiliation_string":"DIASI (CEA, LIST) - D\u00e9partement Intelligence Ambiante et Syst\u00e8mes Interactifs (CEA Saclay - Nanoinnov 91191 Gif-Sur-Yvette Cedex - France)","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210128565"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039125592","display_name":"Jean Laneurit","orcid":null},"institutions":[{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean Laneurit","raw_affiliation_strings":["Inrae, UR TSCF, Centre de Clermont-Ferrand, Universit\u00e9 Clermont Auvergne, Aubi\u00e8re, France","UR TSCF - Technologies et syst\u00e8mes d'information pour les agrosyst\u00e8mes (9 avenue Blaise Pascal CS 20085 F-63178 Aubi\u00e8re ; Domaine des Palaquins, F-03150 Montoldre - France)"],"affiliations":[{"raw_affiliation_string":"Inrae, UR TSCF, Centre de Clermont-Ferrand, Universit\u00e9 Clermont Auvergne, Aubi\u00e8re, France","institution_ids":["https://openalex.org/I198244214"]},{"raw_affiliation_string":"UR TSCF - Technologies et syst\u00e8mes d'information pour les agrosyst\u00e8mes (9 avenue Blaise Pascal CS 20085 F-63178 Aubi\u00e8re ; Domaine des Palaquins, F-03150 Montoldre - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076521836","display_name":"Roland Lenain","orcid":"https://orcid.org/0000-0003-0348-8673"},"institutions":[{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Roland Lenain","raw_affiliation_strings":["Inrae, UR TSCF, Centre de Clermont-Ferrand, Universit\u00e9 Clermont Auvergne, Aubi\u00e8re, France","UR TSCF - Technologies et syst\u00e8mes d'information pour les agrosyst\u00e8mes (9 avenue Blaise Pascal CS 20085 F-63178 Aubi\u00e8re ; Domaine des Palaquins, F-03150 Montoldre - France)"],"affiliations":[{"raw_affiliation_string":"Inrae, UR TSCF, Centre de Clermont-Ferrand, Universit\u00e9 Clermont Auvergne, Aubi\u00e8re, France","institution_ids":["https://openalex.org/I198244214"]},{"raw_affiliation_string":"UR TSCF - Technologies et syst\u00e8mes d'information pour les agrosyst\u00e8mes (9 avenue Blaise Pascal CS 20085 F-63178 Aubi\u00e8re ; Domaine des Palaquins, F-03150 Montoldre - France)","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071265848","display_name":"Eric Lucet","orcid":"https://orcid.org/0000-0002-9702-3473"},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I4210128565","display_name":"CEA Paris-Saclay","ror":"https://ror.org/03n15ch10","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210128565"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Eric Lucet","raw_affiliation_strings":["Universit\u00e9 Paris-Saclay, CEA, Palaiseau, France","DIASI (CEA, LIST) - D\u00e9partement Intelligence Ambiante et Syst\u00e8mes Interactifs (CEA Saclay - Nanoinnov 91191 Gif-Sur-Yvette Cedex - France)"],"affiliations":[{"raw_affiliation_string":"Universit\u00e9 Paris-Saclay, CEA, Palaiseau, France","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I2738703131","https://openalex.org/I4210128565"]},{"raw_affiliation_string":"DIASI (CEA, LIST) - D\u00e9partement Intelligence Ambiante et Syst\u00e8mes Interactifs (CEA Saclay - Nanoinnov 91191 Gif-Sur-Yvette Cedex - France)","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861","https://openalex.org/I4210128565"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5004756471"],"corresponding_institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210128565"],"apc_list":null,"apc_paid":null,"fwci":0.3719,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.59475783,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2421","last_page":"2427"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9972000122070312,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7099510431289673},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6565438508987427},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6523008942604065},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6475884318351746},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6162621974945068},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5334674715995789},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5284364819526672},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5031413435935974},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5020835399627686},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4879433512687683},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45582115650177},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.42699533700942993},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33782702684402466},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25126802921295166},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1752566695213318}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7099510431289673},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6565438508987427},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6523008942604065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6475884318351746},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6162621974945068},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5334674715995789},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5284364819526672},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5031413435935974},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5020835399627686},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4879433512687683},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45582115650177},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42699533700942993},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33782702684402466},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25126802921295166},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1752566695213318},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra48506.2021.9560816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560816","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:cea-03314555v1","is_oa":true,"landing_page_url":"https://cea.hal.science/cea-03314555","pdf_url":"https://cea.hal.science/cea-03314555v1/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","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":"ICRA 2021, International Conference on Robotics and Automation, May 2021, Xi'an, China","raw_type":"Conference papers"},{"id":"pmh:oai:HAL:hal-03829408v1","is_oa":false,"landing_page_url":"https://hal.inrae.fr/hal-03829408","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","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":"2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, Xi'an, China. pp. 2421-2427, ⟨10.1109/ICRA48506.2021.9560816⟩","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:cea-03314555v1","is_oa":true,"landing_page_url":"https://cea.hal.science/cea-03314555","pdf_url":"https://cea.hal.science/cea-03314555v1/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","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":"ICRA 2021, International Conference on Robotics and Automation, May 2021, Xi'an, China","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3189294992.pdf","grobid_xml":"https://content.openalex.org/works/W3189294992.grobid-xml"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W288921318","https://openalex.org/W644423721","https://openalex.org/W1596318188","https://openalex.org/W1757796397","https://openalex.org/W1771410628","https://openalex.org/W1877606214","https://openalex.org/W1964565648","https://openalex.org/W1966911601","https://openalex.org/W1996849432","https://openalex.org/W2005996430","https://openalex.org/W2078603035","https://openalex.org/W2085277206","https://openalex.org/W2100677568","https://openalex.org/W2109900894","https://openalex.org/W2115091574","https://openalex.org/W2136209220","https://openalex.org/W2137983211","https://openalex.org/W2488710684","https://openalex.org/W2515702215","https://openalex.org/W2561430886","https://openalex.org/W2593097710","https://openalex.org/W2606978426","https://openalex.org/W2625091425","https://openalex.org/W2736601468","https://openalex.org/W2738836383","https://openalex.org/W2787938642","https://openalex.org/W2808403302","https://openalex.org/W2914910560","https://openalex.org/W2923252998","https://openalex.org/W2949608212","https://openalex.org/W2966219705","https://openalex.org/W2981005232","https://openalex.org/W3024597329","https://openalex.org/W3041202696","https://openalex.org/W3131148024","https://openalex.org/W3146803896","https://openalex.org/W4298857966","https://openalex.org/W6610382629","https://openalex.org/W6637967152","https://openalex.org/W6638018090","https://openalex.org/W6639031206","https://openalex.org/W6741002519","https://openalex.org/W6748839928","https://openalex.org/W6777295057"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"During":[0],"the":[1,16,34,58,67],"off-road":[2],"path":[3],"following":[4],"of":[5,12,51,56],"a":[6,48,62,74,79,97,108,115,122,129],"wheeled":[7],"mobile":[8],"robot":[9],"in":[10,22,110],"presence":[11],"poor":[13],"grip":[14],"conditions,":[15],"longitudinal":[17,68],"velocity":[18],"should":[19],"be":[20],"limited":[21,29],"order":[23],"to":[24,40,121,128],"maintain":[25],"safe":[26],"navigation":[27],"with":[28,78,89],"tracking":[30,111],"errors,":[31],"while":[32,65,113],"at":[33],"same":[35],"time":[36,118],"being":[37],"high":[38],"enough":[39],"minimize":[41],"travel":[42,117],"time.":[43],"Thus,":[44],"this":[45],"paper":[46],"presents":[47],"new":[49],"approach":[50],"online":[52],"speed":[53,84,125,131],"fluctuation,":[54],"capable":[55],"limiting":[57],"lateral":[59],"error":[60],"below":[61],"given":[63],"threshold,":[64],"maximizing":[66],"velocity.":[69],"This":[70,83],"is":[71,86],"accomplished":[72],"using":[73,96],"neural":[75],"network":[76],"trained":[77],"reinforcement":[80],"learning":[81],"method.":[82,133],"modulation":[85],"done":[87],"side-by-side":[88],"an":[90],"existing":[91],"model-based":[92],"predictive":[93],"steering":[94],"control,":[95],"state":[98],"estimator":[99],"and":[100,104,127],"dynamic":[101],"observers.":[102],"Simulated":[103],"experimental":[105],"results":[106],"show":[107],"decrease":[109],"error,":[112],"maintaining":[114],"consistent":[116],"when":[119],"compared":[120],"classical":[123],"constant":[124],"method":[126],"kinematic":[130],"fluctuation":[132]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":4}],"updated_date":"2026-04-12T07:58:50.170612","created_date":"2025-10-10T00:00:00"}