{"id":"https://openalex.org/W2884548887","doi":"https://doi.org/10.1109/iros.2018.8594400","title":"Controller Synthesis for Discrete-Time Polynomial Systems via Occupation Measures","display_name":"Controller Synthesis for Discrete-Time Polynomial Systems via Occupation Measures","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2884548887","doi":"https://doi.org/10.1109/iros.2018.8594400","mag":"2884548887"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594400","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594400","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1721.1/137117","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028395418","display_name":"Weiqiao Han","orcid":"https://orcid.org/0000-0002-2778-0567"},"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":"Weiqiao Han","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Massachusetts Institute of Technology, Computer Science and Artificial Intelligence Laboratory, Cambridge, 77 Massachusetts Avenue, MA, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology, Computer Science and Artificial Intelligence Laboratory, Cambridge, 77 Massachusetts Avenue, MA, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074291890","display_name":"Russ Tedrake","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":"Russ Tedrake","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Massachusetts Institute of Technology, Computer Science and Artificial Intelligence Laboratory, Cambridge, 77 Massachusetts Avenue, MA, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology, Computer Science and Artificial Intelligence Laboratory, Cambridge, 77 Massachusetts Avenue, MA, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":2.8082,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.91522763,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6911","last_page":"6918"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9941999912261963,"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"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9941999912261963,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9939000010490417,"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":0.9923999905586243,"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/controller","display_name":"Controller (irrigation)","score":0.635804295539856},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.5584730505943298},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.532540500164032},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.488309383392334},{"id":"https://openalex.org/keywords/discrete-time-and-continuous-time","display_name":"Discrete time and continuous time","score":0.4514729380607605},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34554165601730347},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2996426820755005},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.15146103501319885},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1336393654346466},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.12512236833572388}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.635804295539856},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.5584730505943298},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.532540500164032},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.488309383392334},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.4514729380607605},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34554165601730347},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2996426820755005},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.15146103501319885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1336393654346466},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.12512236833572388},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2018.8594400","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594400","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/137117","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137117","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"Article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/137117.2","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137117.2","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/137117","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137117","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1559197676","https://openalex.org/W1582706191","https://openalex.org/W1975342327","https://openalex.org/W2000714860","https://openalex.org/W2025669802","https://openalex.org/W2034773561","https://openalex.org/W2045814149","https://openalex.org/W2055088712","https://openalex.org/W2057789475","https://openalex.org/W2093350522","https://openalex.org/W2100538121","https://openalex.org/W2123332660","https://openalex.org/W2130005755","https://openalex.org/W2160781031","https://openalex.org/W2179464953","https://openalex.org/W2401840706","https://openalex.org/W2589287702","https://openalex.org/W2735356792","https://openalex.org/W2782701448","https://openalex.org/W2783859738","https://openalex.org/W4213068077","https://openalex.org/W4301462654"],"related_works":["https://openalex.org/W1979597421","https://openalex.org/W2007980826","https://openalex.org/W4245490552","https://openalex.org/W4225152035","https://openalex.org/W2061531152","https://openalex.org/W3002753104","https://openalex.org/W2077600819","https://openalex.org/W1587224694","https://openalex.org/W2911598644","https://openalex.org/W2042127053"],"abstract_inverted_index":{"In":[0,111],"this":[1],"paper,":[2],"we":[3,83,113],"design":[4],"nonlinear":[5],"state":[6,100,142],"feedback":[7,143],"controllers":[8,63],"for":[9],"discrete-time":[10,22,128,137],"polynomial":[11,97,130,138],"dynamical":[12,152],"systems":[13,131,139],"via":[14],"the":[15,21,31,68,71,77,93,99,106,116,123,133],"occupation":[16,78],"measure":[17,79],"approach.":[18],"We":[19,146],"propose":[20],"controlled":[23],"Liouville":[24],"equation,":[25],"and":[26,56,92,101,104,132],"use":[27],"it":[28],"to":[29,70,121],"formulate":[30],"controller":[32],"synthesis":[33],"problem":[34,40],"as":[35,47],"an":[36],"infinite-dimensional":[37],"linear":[38],"programming":[39,50],"on":[41,52,59,150],"measures,":[42],"which":[43],"is":[44,81,96,108],"then":[45],"relaxed":[46,72],"finite-dimensional":[48],"semidefinite":[49],"problems":[51,86],"moments":[53],"of":[54,76,88,127,136],"measures":[55],"their":[57],"duals":[58],"sums-of-squares":[60],"polynomials.":[61],"Nonlinear":[62],"can":[64,118],"be":[65,119],"extracted":[66],"from":[67],"solutions":[69],"problems.":[73],"The":[74],"advantage":[75],"approach":[80,107,117,149],"that":[82,115],"solve":[84],"convex":[85],"instead":[87],"generally":[89],"non-convex":[90],"problems,":[91],"computational":[94],"complexity":[95],"in":[98],"input":[102],"dimensions,":[103],"hence":[105],"more":[109],"scalable.":[110],"addition,":[112],"show":[114],"applied":[120],"over-approximating":[122],"backward":[124],"reachable":[125],"set":[126,135],"autonomous":[129],"controllable":[134],"under":[140],"known":[141],"control":[144],"laws.":[145],"illustrate":[147],"our":[148],"several":[151],"systems.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}