{"id":"https://openalex.org/W3152295138","doi":"https://doi.org/10.1109/iros51168.2021.9635967","title":"Particle MPC for Uncertain and Learning-Based Control","display_name":"Particle MPC for Uncertain and Learning-Based Control","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3152295138","doi":"https://doi.org/10.1109/iros51168.2021.9635967","mag":"3152295138"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635967","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/2104.02213","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011274403","display_name":"Robert Dyro","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Robert Dyro","raw_affiliation_strings":["Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031821299","display_name":"J. Michael Harrison","orcid":"https://orcid.org/0000-0002-3657-2639"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Harrison","raw_affiliation_strings":["Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101730120","display_name":"Apoorva Sharma","orcid":"https://orcid.org/0000-0003-0904-8847"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Apoorva Sharma","raw_affiliation_strings":["Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050003000","display_name":"Marco Pavone","orcid":"https://orcid.org/0000-0002-0206-4337"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco Pavone","raw_affiliation_strings":["Stanford University, Stanford, CA, USA","Stanford University ()"],"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University ()","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5011274403"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03401678,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994000196456909,"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":0.9994000196456909,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9896000027656555,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9879999756813049,"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/model-predictive-control","display_name":"Model predictive control","score":0.6851429343223572},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6465142965316772},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6457927227020264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5325554609298706},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4851113557815552},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.453769326210022},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.45040756464004517},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.41582822799682617},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3916969895362854},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3648785650730133},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19402891397476196},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18716201186180115}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6851429343223572},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6465142965316772},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6457927227020264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5325554609298706},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4851113557815552},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.453769326210022},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.45040756464004517},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.41582822799682617},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3916969895362854},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3648785650730133},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19402891397476196},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18716201186180115},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros51168.2021.9635967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635967","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2104.02213","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.02213","pdf_url":"https://arxiv.org/pdf/2104.02213","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3152295138","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2104.02213.pdf","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":"doi:10.48550/arxiv.2104.02213","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2104.02213","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2104.02213","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.02213","pdf_url":"https://arxiv.org/pdf/2104.02213","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3152295138.pdf","grobid_xml":"https://content.openalex.org/works/W3152295138.grobid-xml"},"referenced_works_count":54,"referenced_works":["https://openalex.org/W562007144","https://openalex.org/W1520597402","https://openalex.org/W1539216098","https://openalex.org/W1572804421","https://openalex.org/W1679855469","https://openalex.org/W1969160376","https://openalex.org/W1976410223","https://openalex.org/W1978879785","https://openalex.org/W2007113535","https://openalex.org/W2019318812","https://openalex.org/W2028855444","https://openalex.org/W2035984587","https://openalex.org/W2067716288","https://openalex.org/W2097148013","https://openalex.org/W2098432798","https://openalex.org/W2105371730","https://openalex.org/W2119676820","https://openalex.org/W2140135625","https://openalex.org/W2166550188","https://openalex.org/W2268119109","https://openalex.org/W2322498391","https://openalex.org/W2336416123","https://openalex.org/W2559952970","https://openalex.org/W2735750206","https://openalex.org/W2737223130","https://openalex.org/W2738778707","https://openalex.org/W2763994565","https://openalex.org/W2769646558","https://openalex.org/W2900939565","https://openalex.org/W2962723954","https://openalex.org/W2963238274","https://openalex.org/W2963960193","https://openalex.org/W2964076623","https://openalex.org/W2967267347","https://openalex.org/W2968917487","https://openalex.org/W3006009338","https://openalex.org/W3011860312","https://openalex.org/W3037939899","https://openalex.org/W3081015288","https://openalex.org/W3100883432","https://openalex.org/W3102002161","https://openalex.org/W3106296277","https://openalex.org/W3109426986","https://openalex.org/W3133498163","https://openalex.org/W4250248097","https://openalex.org/W6634104297","https://openalex.org/W6680657880","https://openalex.org/W6730042731","https://openalex.org/W6751494529","https://openalex.org/W6752244597","https://openalex.org/W6768581196","https://openalex.org/W6771697556","https://openalex.org/W6782291934","https://openalex.org/W6785697695"],"related_works":["https://openalex.org/W3157625385","https://openalex.org/W3155499355","https://openalex.org/W3004517342","https://openalex.org/W3120393608","https://openalex.org/W3091029063","https://openalex.org/W2509546504","https://openalex.org/W3033373612","https://openalex.org/W3105252106","https://openalex.org/W2968098989","https://openalex.org/W3132905665","https://openalex.org/W2763994565","https://openalex.org/W3006741522","https://openalex.org/W3135206495","https://openalex.org/W3137746122","https://openalex.org/W3109783321","https://openalex.org/W2910108566","https://openalex.org/W3023404305","https://openalex.org/W2996576458","https://openalex.org/W3009548430","https://openalex.org/W2951948137"],"abstract_inverted_index":{"As":[0],"robotic":[1,137],"systems":[2,138],"move":[3],"from":[4,13],"highly":[5],"structured":[6],"environments":[7],"to":[8,41,69,81,116,125],"open":[9],"worlds,":[10],"incorporating":[11],"uncertainty":[12,50],"dynamics":[14,100,121],"learning":[15],"or":[16,76],"state":[17],"estimation":[18],"into":[19],"the":[20,78,88,117],"control":[21,38,42],"pipeline":[22],"is":[23],"essential":[24],"for":[25,64,98,135],"robust":[26],"performance.":[27],"In":[28],"this":[29,96],"paper":[30],"we":[31,86],"present":[32],"a":[33,91,123],"nonlinear":[34,99],"particle":[35],"model":[36],"predictive":[37],"(PMPC)":[39],"approach":[40,59,107,134,157],"under":[43],"uncertainty,":[44],"which":[45,72],"directly":[46],"incorporates":[47],"any":[48],"particle-based":[49],"representation,":[51],"such":[52],"as":[53],"those":[54],"common":[55],"in":[56,67,162],"robotics.":[57],"Our":[58],"builds":[60],"on":[61],"scenario":[62],"methods":[63],"MPC,":[65],"but":[66],"contrast":[68],"existing":[70],"approaches,":[71],"either":[73],"constrain":[74],"all":[75,163],"only":[77],"first":[79],"timestep":[80],"share":[82],"actions":[83],"across":[84,139],"scenarios,":[85],"investigate":[87,132],"impact":[89],"of":[90,122],"\\textit{partial":[92],"consensus":[93],"horizon}.":[94],"Implementing":[95],"optimization":[97],"by":[101],"leveraging":[102],"sequential":[103],"convex":[104],"optimization,":[105],"our":[106,133,156],"yields":[108],"an":[109],"efficient":[110],"framework":[111],"that":[112,155],"can":[113],"be":[114],"tuned":[115],"particular":[118],"information":[119],"gain":[120],"system":[124],"mitigate":[126],"both":[127],"over-conservatism":[128],"and":[129,149,153],"over-optimism.":[130],"We":[131],"two":[136],"three":[140],"problem":[141],"settings:":[142],"time-varying,":[143],"partially":[144],"observed":[145],"dynamics;":[146],"sensing":[147],"uncertainty;":[148],"model-based":[150],"reinforcement":[151],"learning,":[152],"show":[154],"improves":[158],"performance":[159],"over":[160],"baselines":[161],"settings.":[164]},"counts_by_year":[],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}