{"id":"https://openalex.org/W3003464986","doi":"https://doi.org/10.1109/iros40897.2019.8967525","title":"Learning-based Nonlinear Model Predictive Control of Reconfigurable Autonomous Robotic Boats: Roboats","display_name":"Learning-based Nonlinear Model Predictive Control of Reconfigurable Autonomous Robotic Boats: Roboats","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003464986","doi":"https://doi.org/10.1109/iros40897.2019.8967525","mag":"3003464986"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1721.1/137160","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060508527","display_name":"Erkan Kayacan","orcid":"https://orcid.org/0000-0002-4618-7515"},"institutions":[{"id":"https://openalex.org/I165143802","display_name":"The University of Queensland","ror":"https://ror.org/00rqy9422","country_code":"AU","type":"education","lineage":["https://openalex.org/I165143802"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Erkan Kayacan","raw_affiliation_strings":["School of Mechanical &#x0026; Mining Engineering University of Queensland,Brisbane,Australia","School of Mechanical & Mining Engineering University of Queensland, Brisbane, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical &#x0026; Mining Engineering University of Queensland,Brisbane,Australia","institution_ids":["https://openalex.org/I165143802"]},{"raw_affiliation_string":"School of Mechanical & Mining Engineering University of Queensland, Brisbane, Australia","institution_ids":["https://openalex.org/I165143802"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038347119","display_name":"Shinkyu Park","orcid":"https://orcid.org/0000-0002-8643-404X"},"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":"Shinkyu Park","raw_affiliation_strings":["Massachusetts Institute of Technology,Senseable City Laboratory (SCL),Cambridge,MA,USA","Senseable City Laboratory (SCL), Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Senseable City Laboratory (SCL),Cambridge,MA,USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Senseable City Laboratory (SCL), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103326255","display_name":"Carlo Ratti","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":"Carlo Ratti","raw_affiliation_strings":["Massachusetts Institute of Technology,Senseable City Laboratory (SCL),Cambridge,MA,USA","Senseable City Laboratory (SCL), Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Senseable City Laboratory (SCL),Cambridge,MA,USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Senseable City Laboratory (SCL), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"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":"Daniela Rus","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science &#x0026; Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA","Computer Science & Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science &#x0026; Artificial Intelligence Laboratory (CSAIL),Cambridge,MA,USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science & Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0067,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.74829195,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8230","last_page":"8237"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9965000152587891,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9904000163078308,"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/model-predictive-control","display_name":"Model predictive control","score":0.6487067341804504},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6413782835006714},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6401516199111938},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6130902171134949},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5992705821990967},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.49530163407325745},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4933883249759674},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4913395941257477},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.47996950149536133},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.4232466220855713},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3425571322441101},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31745171546936035},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27074921131134033},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19521278142929077},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1689739227294922},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15445592999458313},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.148796945810318}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6487067341804504},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6413782835006714},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6401516199111938},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6130902171134949},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5992705821990967},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.49530163407325745},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4933883249759674},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4913395941257477},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.47996950149536133},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.4232466220855713},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3425571322441101},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31745171546936035},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27074921131134033},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19521278142929077},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1689739227294922},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15445592999458313},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.148796945810318},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros40897.2019.8967525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/137160","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137160","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":"Other repository","raw_type":"http://purl.org/eprint/type/ConferencePaper"},{"id":"pmh:oai:espace.library.uq.edu.au:UQ:e35d907","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402388","display_name":"Queensland's institutional digital repository (The University of Queensland)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I165143802","host_organization_name":"The University of Queensland","host_organization_lineage":["https://openalex.org/I165143802"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/137160","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137160","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":"Other repository","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1944029014","https://openalex.org/W1978956894","https://openalex.org/W1984426410","https://openalex.org/W2013439434","https://openalex.org/W2019665943","https://openalex.org/W2089090747","https://openalex.org/W2115955659","https://openalex.org/W2129276668","https://openalex.org/W2133342311","https://openalex.org/W2141202025","https://openalex.org/W2143558629","https://openalex.org/W2149841830","https://openalex.org/W2162358447","https://openalex.org/W2163883769","https://openalex.org/W2295495433","https://openalex.org/W2372306012","https://openalex.org/W2547321328","https://openalex.org/W2568552194","https://openalex.org/W2584880555","https://openalex.org/W2766421299","https://openalex.org/W2786734102","https://openalex.org/W2805475117","https://openalex.org/W2811061838","https://openalex.org/W2863749457","https://openalex.org/W2968516608","https://openalex.org/W3136502717"],"related_works":["https://openalex.org/W2583854149","https://openalex.org/W2013711937","https://openalex.org/W2414535689","https://openalex.org/W1850593173","https://openalex.org/W3100966471","https://openalex.org/W2613933697","https://openalex.org/W1976277608","https://openalex.org/W2962472260","https://openalex.org/W2968025285","https://openalex.org/W1524347954"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,27,39,61,73,77,82],"Learning-based":[4],"Nonlinear":[5],"Model":[6],"Predictive":[7],"Control":[8],"(LB-NMPC)":[9],"algorithm":[10],"for":[11,94],"reconfigurable":[12],"autonomous":[13],"vessels":[14,36,49,57],"to":[15,24,26,37,123],"facilitate":[16],"high-accurate":[17,91],"path":[18,92,147],"tracking.":[19,148],"Each":[20],"vessel":[21,32],"is":[22,87,104,109],"designed":[23],"latch":[25],"pre-defined":[28],"point":[29],"of":[30,44,47,56,76,89,98,101,132,137],"another":[31],"that":[33,106],"allows":[34],"the":[35,53,107],"form":[38],"rigid":[40],"body.":[41],"The":[42],"number":[43,55],"possible":[45],"configurations":[46,131],"such":[48],"exponentially":[50],"grows":[51],"as":[52],"total":[54],"increases,":[58],"which":[59,86],"imposes":[60],"technical":[62],"challenge":[63],"in":[64,105,144,146],"modeling":[65],"and":[66,81,112,119,141],"identification.":[67],"In":[68],"this":[69],"work,":[70],"we":[71,134],"propose":[72],"framework":[74],"consisting":[75],"real-time":[78],"parameter":[79,108],"estimator":[80],"feedback":[83],"control":[84,114],"strategy,":[85],"capable":[88],"ensuring":[90],"tracking":[93],"any":[95],"feasible":[96],"configuration":[97],"vessels.":[99],"Novelty":[100],"our":[102,138],"method":[103],"estimated":[110],"on-line":[111],"adjusts":[113],"parameters":[115],"(e.g.,":[116],"cost":[117],"function":[118],"dynamic":[120],"model)":[121],"simultaneously":[122],"improve":[124],"path-tracking":[125],"performance.":[126],"Through":[127],"experiments":[128],"on":[129],"different":[130],"connected-vessels,":[133],"demonstrate":[135],"stability":[136],"proposed":[139],"approach":[140],"its":[142],"effectiveness":[143],"high-accuracy":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
