{"id":"https://openalex.org/W4383108849","doi":"https://doi.org/10.1109/icra48891.2023.10160528","title":"Optimal Scheduling of Models and Horizons for Model Hierarchy Predictive Control","display_name":"Optimal Scheduling of Models and Horizons for Model Hierarchy Predictive Control","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108849","doi":"https://doi.org/10.1109/icra48891.2023.10160528"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5006671049","display_name":"Charles Khazoom","orcid":"https://orcid.org/0000-0001-7224-1688"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Charles Khazoom","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Mechanical Engineering Department,Cambridge,MA,United States","Department of Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Mechanical Engineering Department,Cambridge,MA,United States","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA, United States","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084903357","display_name":"Steve Heim","orcid":"https://orcid.org/0000-0002-4916-7464"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steve Heim","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Mechanical Engineering Department,Cambridge,MA,United States","Department of Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Mechanical Engineering Department,Cambridge,MA,United States","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA, United States","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081168272","display_name":"Daniel Gonzalez-Diaz","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Gonzalez-Diaz","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Mechanical Engineering Department,Cambridge,MA,United States","Department of Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Mechanical Engineering Department,Cambridge,MA,United States","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA, United States","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Mechanical Engineering Department,Cambridge,MA,United States","Department of Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Mechanical Engineering Department,Cambridge,MA,United States","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA, United States","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3075,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.51668217,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"9952","last_page":"9958"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9959999918937683,"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":0.9646000266075134,"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/model-predictive-control","display_name":"Model predictive control","score":0.7777869701385498},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6454606652259827},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6451705694198608},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6340550780296326},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5071046352386475},{"id":"https://openalex.org/keywords/schedule","display_name":"Schedule","score":0.4841931164264679},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.47384077310562134},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.45901456475257874},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43856117129325867},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4307858943939209},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2445032298564911},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2099928855895996},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16010567545890808}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7777869701385498},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6454606652259827},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6451705694198608},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6340550780296326},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5071046352386475},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.4841931164264679},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.47384077310562134},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.45901456475257874},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43856117129325867},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4307858943939209},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2445032298564911},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2099928855895996},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16010567545890808},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.47999998927116394}],"awards":[{"id":"https://openalex.org/G7533658472","display_name":null,"funder_award_id":"P2SKP2_194954","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"}],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W180478659","https://openalex.org/W404102259","https://openalex.org/W1515537504","https://openalex.org/W1967821692","https://openalex.org/W2003013030","https://openalex.org/W2008342119","https://openalex.org/W2056223738","https://openalex.org/W2079995373","https://openalex.org/W2121829700","https://openalex.org/W2129224530","https://openalex.org/W2138136244","https://openalex.org/W2806858658","https://openalex.org/W2842089854","https://openalex.org/W2909331752","https://openalex.org/W2963994809","https://openalex.org/W2972810470","https://openalex.org/W3047510305","https://openalex.org/W3091282566","https://openalex.org/W3093175803","https://openalex.org/W3100237930","https://openalex.org/W3132444912","https://openalex.org/W3135363299","https://openalex.org/W3158488579","https://openalex.org/W3177004920","https://openalex.org/W3190941931","https://openalex.org/W3206363598","https://openalex.org/W3215482237","https://openalex.org/W4221155215","https://openalex.org/W4230405224","https://openalex.org/W4285102639","https://openalex.org/W4313549808","https://openalex.org/W6767349745","https://openalex.org/W6794585241","https://openalex.org/W6798090497","https://openalex.org/W6803940280"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2101188133","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W2060165215","https://openalex.org/W2384015130","https://openalex.org/W4285595274","https://openalex.org/W81137451","https://openalex.org/W2094121346"],"abstract_inverted_index":{"Model":[0],"predictive":[1,42],"control":[2,9,43],"(MPC)":[3],"is":[4,138],"a":[5,32,51,59,83,88,143,148],"powerful":[6],"tool":[7],"to":[8,85,98,182],"systems":[10],"with":[11,142,185],"non-linear":[12],"dynamics":[13,24],"and":[14,78,111,169,184,192],"constraints,":[15],"but":[16],"its":[17],"computational":[18],"demands":[19],"impose":[20],"limitations":[21],"on":[22],"the":[23,37,100,104,116,122,126,130,155,160,166,172],"model":[25,35,40,64,89,167,177],"used":[26],"for":[27,91,163],"planning.":[28],"Instead":[29],"of":[30,53,55,74,103,118,121,150,165],"using":[31],"single":[33,60],"complex":[34],"along":[36,125],"MPC":[38],"horizon,":[39],"hierarchy":[41],"(MHPC)":[44],"reduces":[45],"solve":[46,112],"times":[47,113],"by":[48,114],"planning":[49],"over":[50],"sequence":[52,65],"models":[54,77],"varying":[56],"complexity":[57],"within":[58],"horizon.":[61],"Choosing":[62],"this":[63],"can":[66],"become":[67],"intractable":[68],"when":[69],"considering":[70],"all":[71],"possible":[72],"combinations":[73],"reduced":[75],"order":[76],"prediction":[79],"horizons.":[80],"We":[81,93,107,152],"propose":[82],"framework":[84,137],"systematically":[86],"optimize":[87],"schedule":[90],"MHPC.":[92],"leverage":[94],"trajectory":[95],"optimization":[96],"(TO)":[97],"approximate":[99,131],"accumulated":[101],"cost":[102,133,158],"closed-loop":[105,132,157],"controller.":[106],"trade":[108],"off":[109],"performance":[110],"minimizing":[115],"number":[117],"decision":[119],"variables":[120],"MHPC":[123],"problem":[124],"horizon":[127],"while":[128],"keeping":[129],"near":[134],"optimal.":[135],"The":[136],"validated":[139],"in":[140],"simulation":[141],"planar":[144],"humanoid":[145],"robot":[146],"as":[147],"proof":[149],"concept.":[151],"find":[153],"that":[154,171,179,188],"approximated":[156],"matches":[159],"simulated":[161],"one":[162],"most":[164],"schedules,":[168],"show":[170],"proposed":[173],"approach":[174],"finds":[175],"optimal":[176],"schedules":[178],"transfer":[180],"directly":[181],"simulation,":[183],"total":[186],"horizons":[187],"vary":[189],"between":[190],"1.1":[191],"1.6":[193],"walking":[194],"steps.":[195]},"counts_by_year":[{"year":2024,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
