{"id":"https://openalex.org/W2953473163","doi":"https://doi.org/10.1109/iros40897.2019.8967794","title":"Chance-Constrained Trajectory Optimization for Non-linear Systems with Unknown Stochastic Dynamics","display_name":"Chance-Constrained Trajectory Optimization for Non-linear Systems with Unknown Stochastic Dynamics","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2953473163","doi":"https://doi.org/10.1109/iros40897.2019.8967794","mag":"2953473163"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967794","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1906.11003","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029894030","display_name":"Onur \u00c7elik","orcid":"https://orcid.org/0000-0003-3706-0675"},"institutions":[{"id":"https://openalex.org/I143910747","display_name":"TH Bingen University of Applied Sciences","ror":"https://ror.org/01pxkj057","country_code":"DE","type":"education","lineage":["https://openalex.org/I143910747"]},{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Onur Celik","raw_affiliation_strings":["Universtit&#x00E4;t T&#x00FC;bingen.,Department of Computer Science","Universtit\u00e4t T\u00fcbingen.,Department of Computer Science"],"affiliations":[{"raw_affiliation_string":"Universtit&#x00E4;t T&#x00FC;bingen.,Department of Computer Science","institution_ids":["https://openalex.org/I143910747"]},{"raw_affiliation_string":"Universtit\u00e4t T\u00fcbingen.,Department of Computer Science","institution_ids":["https://openalex.org/I8087733"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080021372","display_name":"Hany Abdulsamad","orcid":"https://orcid.org/0000-0001-8683-8784"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hany Abdulsamad","raw_affiliation_strings":["Intelligent Autonomous Systems,Department of Computer Science"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems,Department of Computer Science","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Intelligent Autonomous Systems,Department of Computer Science"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems,Department of Computer Science","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5029894030"],"corresponding_institution_ids":["https://openalex.org/I143910747","https://openalex.org/I8087733"],"apc_list":null,"apc_paid":null,"fwci":0.434,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.7130093,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"6828","last_page":"6833"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11195","display_name":"Simulation Techniques and Applications","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9958999752998352,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6607179641723633},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6219170093536377},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5926429033279419},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.579067587852478},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.5198177099227905},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5194879770278931},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4869126081466675},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.48063841462135315},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.443154901266098},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4412464499473572},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.43332332372665405},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.4242885112762451},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.41717687249183655},{"id":"https://openalex.org/keywords/stochastic-optimization","display_name":"Stochastic optimization","score":0.41206222772598267},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34341269731521606},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3113552927970886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13695889711380005},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07659563422203064}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6607179641723633},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6219170093536377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5926429033279419},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.579067587852478},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.5198177099227905},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5194879770278931},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4869126081466675},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.48063841462135315},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.443154901266098},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4412464499473572},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.43332332372665405},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.4242885112762451},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.41717687249183655},{"id":"https://openalex.org/C194387892","wikidata":"https://www.wikidata.org/wiki/Q1747770","display_name":"Stochastic optimization","level":2,"score":0.41206222772598267},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34341269731521606},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3113552927970886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13695889711380005},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07659563422203064},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros40897.2019.8967794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967794","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:arXiv.org:1906.11003","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1906.11003","pdf_url":"https://arxiv.org/pdf/1906.11003","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2953473163","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1906.11003v2","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:pure.mpg.de:item_3261824","is_oa":false,"landing_page_url":"http://hdl.handle.net/21.11116/0000-0007-809A-A","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.48550/arxiv.1906.11003","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1906.11003","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1906.11003","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1906.11003","pdf_url":"https://arxiv.org/pdf/1906.11003","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W658381347","https://openalex.org/W1522531528","https://openalex.org/W1601804420","https://openalex.org/W1964946446","https://openalex.org/W1967591886","https://openalex.org/W2001981441","https://openalex.org/W2012587148","https://openalex.org/W2013439434","https://openalex.org/W2018705428","https://openalex.org/W2019820755","https://openalex.org/W2067778155","https://openalex.org/W2087617385","https://openalex.org/W2099506495","https://openalex.org/W2121103318","https://openalex.org/W2132004142","https://openalex.org/W2140135625","https://openalex.org/W2167856595","https://openalex.org/W2399169217","https://openalex.org/W2508795747","https://openalex.org/W2515431458","https://openalex.org/W2611835223","https://openalex.org/W2737829489","https://openalex.org/W2774021736","https://openalex.org/W2842089854","https://openalex.org/W2964161785","https://openalex.org/W3106992008","https://openalex.org/W4250589301","https://openalex.org/W6653548176","https://openalex.org/W6674902229","https://openalex.org/W6678367057","https://openalex.org/W6680657880","https://openalex.org/W6682849425","https://openalex.org/W6724986982","https://openalex.org/W6753455326"],"related_works":["https://openalex.org/W3003462916","https://openalex.org/W3090720308","https://openalex.org/W2288359064","https://openalex.org/W2586718483","https://openalex.org/W1576893299","https://openalex.org/W2952063594","https://openalex.org/W3151766912","https://openalex.org/W2342918308","https://openalex.org/W3182492475","https://openalex.org/W2770350039","https://openalex.org/W1964644507","https://openalex.org/W3149566759","https://openalex.org/W2088177629","https://openalex.org/W2116511904","https://openalex.org/W2538193043","https://openalex.org/W1878168572","https://openalex.org/W176366016","https://openalex.org/W3155387009","https://openalex.org/W2801236553","https://openalex.org/W3006182252"],"abstract_inverted_index":{"Iterative":[0],"trajectory":[1,42,142],"optimization":[2,58,93,143],"techniques":[3],"for":[4,77],"non-linear":[5],"dynamical":[6],"systems":[7,111],"are":[8,53],"among":[9],"the":[10,49,67,73,83,89,92,99,107,113],"most":[11],"powerful":[12],"and":[13,20,33,43,124,136,138,175],"sample-efficient":[14],"methods":[15,36],"of":[16,30,57,69,82,88,98,109,115],"model-based":[17],"reinforcement":[18],"learning":[19,164],"approximate":[21,74],"optimal":[22,45],"control.":[23],"By":[24],"leveraging":[25],"time-variant":[26,44],"local":[27,50],"linear-quadratic":[28,51],"approximations":[29],"system":[31,84],"dynamics":[32],"reward,":[34],"such":[35],"can":[37],"find":[38],"both":[39,134],"a":[40,54,140,152,160],"target-optimal":[41],"feedback":[46],"controllers.":[47],"However,":[48],"assumptions":[52],"major":[55],"source":[56],"bias":[59],"that":[60,145],"leads":[61],"to":[62,170],"catastrophic":[63],"greedy":[64],"updates,":[65],"raising":[66],"issue":[68,108],"proper":[70],"regularization.":[71],"Moreover,":[72],"models'":[75],"disregard":[76],"any":[78],"physical":[79,126],"state-action":[80,100],"limits":[81,127],"causes":[85],"further":[86],"aggravation":[87],"problem,":[90],"as":[91,128],"moves":[94],"towards":[95],"unreachable":[96],"areas":[97],"space.":[101],"In":[102],"this":[103],"paper,":[104],"we":[105],"address":[106],"constrained":[110],"in":[112,133,163,180],"scenario":[114],"online-fitted":[116],"stochastic":[117],"linear":[118,132],"dynamics.":[119],"We":[120],"propose":[121],"modeling":[122],"state":[123,135],"action":[125,137],"probabilistic":[129,148],"chance":[130],"constraints":[131,149],"introduce":[139],"new":[141],"technique":[144],"integrates":[146],"these":[147],"by":[150],"optimizing":[151],"relaxed":[153],"quadratic":[154],"program.":[155],"Our":[156],"empirical":[157],"evaluations":[158],"show":[159],"significant":[161],"improvement":[162],"robustness,":[165],"which":[166],"enables":[167],"our":[168],"approach":[169],"perform":[171],"more":[172],"effective":[173],"updates":[174],"avoid":[176],"premature":[177],"convergence":[178],"observed":[179],"state-of-the-art":[181],"algorithms.":[182]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
