{"id":"https://openalex.org/W2565077851","doi":"https://doi.org/10.1109/iros.2016.7759553","title":"Sequential alternating least squares for solving high dimensional linear Hamilton-Jacobi-Bellman equation","display_name":"Sequential alternating least squares for solving high dimensional linear Hamilton-Jacobi-Bellman equation","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2565077851","doi":"https://doi.org/10.1109/iros.2016.7759553","mag":"2565077851"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759553","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759553","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5005403023","display_name":"Elis Stefansson","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Elis Stefansson","raw_affiliation_strings":["KTH Royal Institute of Technology, Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071259875","display_name":"Yoke Peng Leong","orcid":"https://orcid.org/0000-0001-8560-8856"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yoke Peng Leong","raw_affiliation_strings":["KTH Royal Institute of Technology, Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5005403023"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.4428,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.58220211,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3757","last_page":"3764"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12303","display_name":"Tensor decomposition and applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2605","display_name":"Computational Mathematics"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12303","display_name":"Tensor decomposition and applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2605","display_name":"Computational Mathematics"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10305","display_name":"Power System Optimization and Stability","score":0.9872000217437744,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11206","display_name":"Model Reduction and Neural Networks","score":0.977400004863739,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hamilton\u2013jacobi\u2013bellman-equation","display_name":"Hamilton\u2013Jacobi\u2013Bellman equation","score":0.9739259481430054},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.49548184871673584},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.48133882880210876},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.47127577662467957},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4207558035850525},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3306942880153656},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3219952881336212},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.2314191460609436},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10780912637710571}],"concepts":[{"id":"https://openalex.org/C196978813","wikidata":"https://www.wikidata.org/wiki/Q3302775","display_name":"Hamilton\u2013Jacobi\u2013Bellman equation","level":3,"score":0.9739259481430054},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.49548184871673584},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.48133882880210876},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.47127577662467957},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4207558035850525},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3306942880153656},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3219952881336212},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2314191460609436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10780912637710571},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759553","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759553","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:72704","is_oa":false,"landing_page_url":"https://resolver.caltech.edu/CaltechAUTHORS:20161212-090349947","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W187764570","https://openalex.org/W1490180844","https://openalex.org/W1972079118","https://openalex.org/W1974834572","https://openalex.org/W2000215628","https://openalex.org/W2012778819","https://openalex.org/W2015628091","https://openalex.org/W2037271374","https://openalex.org/W2062533874","https://openalex.org/W2063997360","https://openalex.org/W2071509239","https://openalex.org/W2073469810","https://openalex.org/W2079121704","https://openalex.org/W2093524643","https://openalex.org/W2098432798","https://openalex.org/W2121739212","https://openalex.org/W2224721981","https://openalex.org/W2228567937","https://openalex.org/W2292274090","https://openalex.org/W2565077851","https://openalex.org/W2798909945","https://openalex.org/W2963350219","https://openalex.org/W3103122215","https://openalex.org/W4300120313","https://openalex.org/W6689431255"],"related_works":["https://openalex.org/W2358967034","https://openalex.org/W2155717523","https://openalex.org/W2024495128","https://openalex.org/W4319881067","https://openalex.org/W3130577778","https://openalex.org/W1974398766","https://openalex.org/W2087292112","https://openalex.org/W2290858160","https://openalex.org/W1552483862","https://openalex.org/W3149091143"],"abstract_inverted_index":{"This":[0,55,105],"paper":[1],"presents":[2],"a":[3,13,28,100,163,170],"technique":[4,75],"to":[5,32,80,99,175],"efficiently":[6],"solve":[7],"the":[8,33,38,51,58,62,81,89,108,113,126,132,145],"Hamilton-Jacobi-Bellman":[9],"(HJB)":[10],"equation":[11,53,65],"for":[12],"class":[14],"of":[15,40,88,103,122,129,152],"stochastic":[16],"affine":[17],"nonlinear":[18],"dynamical":[19,35],"systems":[20],"in":[21,44,93,131],"high":[22,101],"dimensions.":[23],"The":[24,150],"HJB":[25,52,64,83],"solution":[26,79,114],"provides":[27],"globally":[29],"optimal":[30],"controller":[31],"associated":[34],"system.":[36],"However,":[37],"curse":[39,59],"dimensionality,":[41],"commonly":[42],"found":[43],"robotic":[45],"systems,":[46],"prevents":[47],"one":[48],"from":[49],"solving":[50],"naively.":[54],"work":[56,106],"avoids":[57],"by":[60,111],"representing":[61],"linear":[63,82],"using":[66,156],"tensor":[67],"decomposition.":[68],"An":[69],"alternating":[70],"least":[71],"squares":[72],"(ALS)":[73],"based":[74],"finds":[76],"an":[77,160],"approximate":[78],"equation.":[84],"A":[85,135],"straightforward":[86],"implementation":[87],"ALS":[90],"algorithm":[91],"results":[92],"ill-conditioned":[94],"matrices":[95,130],"that":[96,143],"prevent":[97],"approximation":[98],"order":[102],"accuracy.":[104],"resolves":[107],"ill-conditioning":[109],"issue":[110],"computing":[112],"sequentially":[115],"and":[116,166,169],"introducing":[117],"boundary":[118],"condition":[119,127],"rescaling.":[120],"Both":[121],"these":[123],"additions":[124],"reduce":[125],"number":[128],"ALS-based":[133],"algorithm.":[134],"MATLAB":[136],"tool,":[137],"Sequential":[138],"Alternating":[139],"Least":[140],"Squares":[141],"(SeALS),":[142],"implements":[144],"new":[146],"method":[147],"is":[148,154],"developed.":[149],"performance":[151],"SeALS":[153],"illustrated":[155],"three":[157],"engineering":[158],"examples:":[159],"inverted":[161],"pendulum,":[162],"Vertical":[164],"Takeoff":[165],"Landing":[167],"aircraft,":[168],"quadcopter":[171],"with":[172],"state":[173],"up":[174],"twelve.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
