{"id":"https://openalex.org/W2091759858","doi":"https://doi.org/10.1109/iros.2012.6385707","title":"Simultaneous optimal parameter and mode transition time estimation","display_name":"Simultaneous optimal parameter and mode transition time estimation","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2091759858","doi":"https://doi.org/10.1109/iros.2012.6385707","mag":"2091759858"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385707","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5002804365","display_name":"L. M. Miller","orcid":"https://orcid.org/0000-0001-5935-4549"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lauren M. Miller","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","Department of Mechanical Engineering Northwestern University, Evanston, IL 60208 (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Department of Mechanical Engineering Northwestern University, Evanston, IL 60208 (USA)","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067725461","display_name":"Todd D. Murphey","orcid":"https://orcid.org/0000-0003-2262-8176"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Todd D. Murphey","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","Department of Mechanical Engineering Northwestern University, Evanston, IL 60208 (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Department of Mechanical Engineering Northwestern University, Evanston, IL 60208 (USA)","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I111979921"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"43","issue":null,"first_page":"719","last_page":"724"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.998199999332428,"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/hessian-matrix","display_name":"Hessian matrix","score":0.865929365158081},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.6726226210594177},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.6135454773902893},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5689103007316589},{"id":"https://openalex.org/keywords/discrete-time-and-continuous-time","display_name":"Discrete time and continuous time","score":0.5059635043144226},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.48654904961586},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4687125086784363},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.4530772864818573},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.43677830696105957},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4235420823097229},{"id":"https://openalex.org/keywords/first-order","display_name":"First order","score":0.41638222336769104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.412325382232666},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.40431082248687744},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.11394831538200378},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07666805386543274}],"concepts":[{"id":"https://openalex.org/C203616005","wikidata":"https://www.wikidata.org/wiki/Q620495","display_name":"Hessian matrix","level":2,"score":0.865929365158081},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.6726226210594177},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.6135454773902893},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5689103007316589},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.5059635043144226},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.48654904961586},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4687125086784363},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.4530772864818573},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.43677830696105957},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4235420823097229},{"id":"https://openalex.org/C2987642246","wikidata":"https://www.wikidata.org/wiki/Q5452196","display_name":"First order","level":2,"score":0.41638222336769104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.412325382232666},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.40431082248687744},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.11394831538200378},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07666805386543274},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6385707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385707","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.712.2122","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.712.2122","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://nxr.northwestern.edu/sites/default/files/publications/murphey-2012IROS.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W287703190","https://openalex.org/W1895481937","https://openalex.org/W1983933088","https://openalex.org/W2039175100","https://openalex.org/W2066051929","https://openalex.org/W2071473360","https://openalex.org/W2097108504","https://openalex.org/W2105467265","https://openalex.org/W2112614377","https://openalex.org/W2134569884","https://openalex.org/W2138989884","https://openalex.org/W2147091919","https://openalex.org/W2150876197","https://openalex.org/W2151435677","https://openalex.org/W2154491775","https://openalex.org/W2163117478","https://openalex.org/W2172012981","https://openalex.org/W2181005280","https://openalex.org/W3029645440","https://openalex.org/W4301909677","https://openalex.org/W6676879269"],"related_works":["https://openalex.org/W2611031068","https://openalex.org/W1704347466","https://openalex.org/W1996936972","https://openalex.org/W4283017538","https://openalex.org/W1545275724","https://openalex.org/W2802707792","https://openalex.org/W2569979269","https://openalex.org/W2075777916","https://openalex.org/W3021699548","https://openalex.org/W3212659400"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,76],"method":[4],"of":[5,25],"simultaneous":[6],"mode":[7,35],"transition":[8,36,63],"time":[9,19],"and":[10,27,38,50,85,117],"parameter":[11,39,69],"estimation":[12,54],"for":[13,61,75],"hybrid":[14],"systems":[15],"based":[16],"on":[17],"switching":[18,48],"optimization":[20,96],"techniques.":[21],"A":[22],"concise":[23],"derivation":[24],"first-":[26],"second-order":[28,95,110],"optimality":[29],"conditions":[30],"with":[31],"respect":[32],"to":[33,58,107,112],"both":[34],"times":[37,49,64],"values":[40,70,114],"is":[41,56,92],"presented,":[42],"including":[43],"cross-derivative":[44],"terms":[45],"between":[46,87],"the":[47,51,99],"parameters.":[52],"The":[53],"algorithm":[55],"shown":[57,93],"be":[59],"effective":[60],"estimating":[62],"as":[65,67],"well":[66],"unknown":[68,81],"from":[71],"coarsely":[72],"sampled":[73],"data":[74],"skid-steered":[77],"vehicle,":[78],"which":[79],"traverses":[80],"or":[82],"changing":[83],"terrain":[84],"transitions":[86],"discrete":[88],"dynamic":[89],"modes.":[90],"It":[91],"that":[94],"methods":[97],"using":[98],"exact":[100],"Hessian":[101],"provide":[102],"far":[103],"superior":[104],"convergence,":[105],"compared":[106],"first-or":[108],"approximate":[109],"methods,":[111],"correct":[113],"in":[115],"simulated":[116],"experimental":[118],"scenarios.":[119]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}