{"id":"https://openalex.org/W4401417270","doi":"https://doi.org/10.1109/icra57147.2024.10611171","title":"Optimal Control of Granular Material","display_name":"Optimal Control of Granular Material","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417270","doi":"https://doi.org/10.1109/icra57147.2024.10611171"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611171","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5074025783","display_name":"Yuichiro Aoyama","orcid":"https://orcid.org/0000-0001-5676-3769"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuichiro Aoyama","raw_affiliation_strings":["Georgia Institute of Technology,US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,US","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044679988","display_name":"Amin Haeri","orcid":"https://orcid.org/0000-0002-1217-656X"},"institutions":[{"id":"https://openalex.org/I40347166","display_name":"University of Chicago","ror":"https://ror.org/024mw5h28","country_code":"US","type":"education","lineage":["https://openalex.org/I40347166"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amin Haeri","raw_affiliation_strings":["University of Chicago,US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chicago,US","institution_ids":["https://openalex.org/I40347166"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102986128","display_name":"Evangelos Theodorou","orcid":"https://orcid.org/0000-0002-8270-2473"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Evangelos A. Theodorou","raw_affiliation_strings":["Georgia Institute of Technology,US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,US","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6573,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.63753492,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"13234","last_page":"13241"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10615","display_name":"Granular flow and fluidized beds","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10615","display_name":"Granular flow and fluidized beds","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10535","display_name":"Landslides and related hazards","score":0.9922999739646912,"subfield":{"id":"https://openalex.org/subfields/2308","display_name":"Management, Monitoring, Policy and Law"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/computer-science","display_name":"Computer science","score":0.46663743257522583},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42786893248558044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14626842737197876}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46663743257522583},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42786893248558044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14626842737197876}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611171","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1564524050","https://openalex.org/W2025752438","https://openalex.org/W2062740692","https://openalex.org/W2143668817","https://openalex.org/W2156410578","https://openalex.org/W2189385236","https://openalex.org/W2294798173","https://openalex.org/W2326806701","https://openalex.org/W2407337164","https://openalex.org/W2739745536","https://openalex.org/W2805869290","https://openalex.org/W2917841018","https://openalex.org/W2963892986","https://openalex.org/W2964128214","https://openalex.org/W2965742591","https://openalex.org/W2965963683","https://openalex.org/W2981906852","https://openalex.org/W2990461097","https://openalex.org/W3104397553","https://openalex.org/W3110517173","https://openalex.org/W3158424359","https://openalex.org/W4206318793","https://openalex.org/W4225013475","https://openalex.org/W4229451778","https://openalex.org/W4232803353","https://openalex.org/W4254163208","https://openalex.org/W4300305993","https://openalex.org/W4301014524","https://openalex.org/W4307334091","https://openalex.org/W4387447989","https://openalex.org/W6607786297","https://openalex.org/W6666553440","https://openalex.org/W6668431246","https://openalex.org/W6676457264","https://openalex.org/W6677316912","https://openalex.org/W6681569231","https://openalex.org/W6682182749","https://openalex.org/W6682415363","https://openalex.org/W6683085704","https://openalex.org/W6744275271","https://openalex.org/W6755722174","https://openalex.org/W6765327356","https://openalex.org/W6769789486","https://openalex.org/W6771619427","https://openalex.org/W6774033856","https://openalex.org/W6795007937","https://openalex.org/W6796842625","https://openalex.org/W6797166188","https://openalex.org/W6803157952","https://openalex.org/W6803980642","https://openalex.org/W6810351053"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"The":[0,121,133],"control":[1,71,110,134],"of":[2,72],"granular":[3,76,115],"materials,":[4],"which":[5],"are":[6,21,125,136],"found":[7],"in":[8,45],"many":[9,38],"industrial":[10],"applications,":[11],"is":[12,81],"a":[13,49,73,84,93,118],"challenging":[14],"open":[15],"research":[16],"problem.":[17],"Granular":[18],"material":[19,77],"systems":[20],"complex-behavior":[22],"(as":[23,34],"they":[24,35],"could":[25,36],"have":[26,37],"solid-,":[27],"fluid-,":[28],"and":[29,32,96,123,131],"gas-like":[30],"behaviors)":[31],"high-dimensional":[33],"grains/particles":[39],"with":[40],"at":[41],"least":[42],"3":[43],"DOF":[44],"3D)":[46],"systems.":[47],"Recently,":[48],"machine":[50],"learning-based":[51],"Graph":[52],"Neural":[53],"Network":[54],"(GNN)":[55],"simulator":[56,95],"has":[57],"been":[58],"proposed":[59],"to":[60,107,127,139,147],"learn":[61],"the":[62,140,150],"underlying":[63],"dynamics.":[64],"In":[65],"this":[66],"paper,":[67],"we":[68],"perform":[69],"optimal":[70,109],"rigid":[74],"body-driven":[75],"system":[78],"whose":[79],"dynamics":[80],"learned":[82],"by":[83,88],"GNN":[85],"model":[86,122],"trained":[87],"reduced":[89],"data":[90],"generated":[91],"via":[92],"physics-based":[94,145],"Principal":[97],"Component":[98],"Analysis":[99],"(PCA).":[100],"We":[101],"use":[102],"Differential":[103],"Dynamic":[104],"Programming":[105],"(DDP)":[106],"obtain":[108],"commands":[111,135],"that":[112],"can":[113],"form":[114],"particles":[116],"into":[117],"target":[119],"shape.":[120],"results":[124],"shown":[126],"be":[128],"relatively":[129],"fast":[130],"accurate.":[132],"also":[137],"applied":[138],"ground":[141],"truth":[142],"model,":[143],"i.e.,":[144],"simulator,":[146],"further":[148],"validate":[149],"approach.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
