{"id":"https://openalex.org/W3131672254","doi":"https://doi.org/10.1109/iros45743.2020.9341427","title":"Localization Uncertainty-driven Adaptive Framework for Controlling Ground Vehicle Robots","display_name":"Localization Uncertainty-driven Adaptive Framework for Controlling Ground Vehicle Robots","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3131672254","doi":"https://doi.org/10.1109/iros45743.2020.9341427","mag":"3131672254"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5049875933","display_name":"Daniel Kent","orcid":null},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Daniel Kent","raw_affiliation_strings":["Michigan State University, East Lansing, Michigan, USA"],"affiliations":[{"raw_affiliation_string":"Michigan State University, East Lansing, Michigan, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017795809","display_name":"Philip K. McKinley","orcid":null},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Philip K. McKinley","raw_affiliation_strings":["Michigan State University, East Lansing, Michigan, USA"],"affiliations":[{"raw_affiliation_string":"Michigan State University, East Lansing, Michigan, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015107642","display_name":"Hayder Radha","orcid":null},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hayder Radha","raw_affiliation_strings":["Michigan State University, East Lansing, Michigan, USA"],"affiliations":[{"raw_affiliation_string":"Michigan State University, East Lansing, Michigan, USA","institution_ids":["https://openalex.org/I87216513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049875933"],"corresponding_institution_ids":["https://openalex.org/I87216513"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.1796061,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7079","last_page":"7086"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9984999895095825,"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/computer-science","display_name":"Computer science","score":0.6539101004600525},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6224496960639954},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5642719864845276},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5630344748497009},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.510693371295929},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44645631313323975},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.441560834646225},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4239976108074188},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41796639561653137},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37897565960884094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29134127497673035},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24228021502494812}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6539101004600525},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6224496960639954},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5642719864845276},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5630344748497009},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.510693371295929},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44645631313323975},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.441560834646225},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4239976108074188},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41796639561653137},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37897565960884094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29134127497673035},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24228021502494812},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332467","display_name":"U.S. Air Force","ror":"https://ror.org/006gmme17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W200697499","https://openalex.org/W1597689155","https://openalex.org/W1638159426","https://openalex.org/W1665214252","https://openalex.org/W1914583973","https://openalex.org/W1986434229","https://openalex.org/W2036293656","https://openalex.org/W2060061906","https://openalex.org/W2089087399","https://openalex.org/W2096020743","https://openalex.org/W2096459303","https://openalex.org/W2126009268","https://openalex.org/W2152328382","https://openalex.org/W2154022540","https://openalex.org/W2166706236","https://openalex.org/W2172117433","https://openalex.org/W2176531811","https://openalex.org/W2182229738","https://openalex.org/W2206222117","https://openalex.org/W2296267969","https://openalex.org/W2544243493","https://openalex.org/W2546302380","https://openalex.org/W2819575827","https://openalex.org/W2901136733","https://openalex.org/W2927337361","https://openalex.org/W2938382370","https://openalex.org/W2953697632","https://openalex.org/W2962871846","https://openalex.org/W3148939135","https://openalex.org/W3190121440","https://openalex.org/W4211059674","https://openalex.org/W4247654866","https://openalex.org/W6601780091","https://openalex.org/W6608138123","https://openalex.org/W6635778508","https://openalex.org/W6637242042","https://openalex.org/W6674829560","https://openalex.org/W6682701150","https://openalex.org/W6684249991","https://openalex.org/W6685664056","https://openalex.org/W6697114518","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4295532600","https://openalex.org/W2063823869","https://openalex.org/W2047973478","https://openalex.org/W2067569035","https://openalex.org/W2090985514","https://openalex.org/W2997567050","https://openalex.org/W2113666009","https://openalex.org/W2145649715","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Modern":[0],"localization":[1,29,47,68,87,148,175,275],"techniques":[2],"allow":[3],"ground":[4],"vehicle":[5,159],"robots":[6],"to":[7,19,23,50,90,128,147,185,192,206,220,232,254,272],"determine":[8],"their":[9,25],"position":[10,34],"with":[11,162,172,259],"centimeter-level":[12],"accuracy":[13,35],"under":[14,66],"nominal":[15],"conditions,":[16],"enabling":[17],"them":[18],"utilize":[20],"fixed":[21],"maps":[22],"navigate":[24],"environments.":[26],"However,":[27],"when":[28],"measurements":[30],"become":[31],"unavailable,":[32],"the":[33,52,57,124,129,144,186,193,239,245,250,257,260,263],"will":[36,40],"drop":[37],"and":[38,44,73,79,107,112,133,136,229,269],"uncertainty":[39,69,88,176],"increase.":[41],"While":[42],"research":[43],"development":[45],"on":[46,76,217,224,238],"estimation":[48],"seeks":[49],"reduce":[51,207],"severity":[53],"of":[54,59],"these":[55],"outages,":[56],"question":[58],"what":[60],"actions":[61],"a":[62,77,156,164,196],"robot":[63],"should":[64],"take":[65],"high":[67],"is":[70,160,252],"still":[71],"unresolved,":[72],"can":[74],"vary":[75],"platform-by-platform":[78],"mission-by-mission":[80],"basis.":[81],"In":[82,200],"this":[83],"paper,":[84],"we":[85,99,122,141],"exploit":[86],"measures":[89],"adapt":[91],"system":[92,203],"control":[93,105],"parameters":[94,106,184,230],"in":[95,119,154,211,248],"real":[96,120],"time.":[97],"Offline,":[98],"optimize":[100],"non-linear":[101],"activation":[102],"functions":[103,127],"whose":[104],"relevant":[108],"weights":[109,182,228],"are":[110,152,190],"trained":[111],"learned":[113],"using":[114,226],"Evolutionary":[115,150],"Algorithm":[116],"(EA).":[117],"Subsequently,":[118],"time,":[121],"apply":[123],"optimized":[125],"adaptation":[126,187,235,246,261],"controller":[130],"look-ahead":[131,270],"distance":[132,271],"intermediate":[134],"linear":[135],"angular":[137],"velocity":[138,268],"commands,":[139],"which":[140,155,189,210],"identify":[142],"as":[143],"most":[145],"sensitive":[146],"error.":[149],"runs":[151,179],"conducted":[153],"simulated":[157],"target":[158],"tasked":[161],"following":[163],"randomly":[165],"generated":[166],"path":[167],"while":[168],"minimizing":[169],"cross-track":[170,208],"error,":[171,209],"time":[173],"varying":[174],"added.":[177],"These":[178],"produce":[180],"situation-dependent":[181],"for":[183,274],"functions,":[188],"transferred":[191],"physical":[194,240],"platform,":[195],"1:5-scale":[197],"autonomous":[198],"vehicle.":[199],"simulation,":[201],"our":[202,233],"was":[204],"able":[205],"certain":[212],"cases":[213],"exceeds":[214],"250":[215],"centimeters":[216,223],"non-adapted":[218],"systems,":[219],"below":[221],"15":[222],"average":[225],"EA-derived":[227],"applied":[231],"proposed":[234],"system.":[236],"Evaluation":[237],"platform":[241,251,264],"demonstrates":[242],"that":[243],"without":[244],"module":[247],"place,":[249],"unable":[253],"successfully":[255],"follow":[256],"path;":[258],"module,":[262],"automatically":[265],"adjusts":[266],"its":[267],"compensate":[273],"uncertainty.":[276]},"counts_by_year":[{"year":2024,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
