{"id":"https://openalex.org/W4200454654","doi":"https://doi.org/10.1109/iros51168.2021.9635979","title":"A Robust Data-Driven Approach for Dynamics Model Identification in Trajectory Planning","display_name":"A Robust Data-Driven Approach for Dynamics Model Identification in Trajectory Planning","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200454654","doi":"https://doi.org/10.1109/iros51168.2021.9635979"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635979","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":"conference-paper","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/A5007902118","display_name":"Jiangqiu Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jiangqiu Chen","raw_affiliation_strings":["University of Bristol, Bristol, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bristol, Bristol, UK","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103256800","display_name":"Minyu Zhang","orcid":"https://orcid.org/0000-0002-9197-3283"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Minyu Zhang","raw_affiliation_strings":["University of Bristol, Bristol, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bristol, Bristol, UK","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101489620","display_name":"Zhifei Yang","orcid":"https://orcid.org/0009-0004-9314-8051"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhifei Yang","raw_affiliation_strings":["University of Bristol, Bristol, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bristol, Bristol, UK","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085837130","display_name":"Linqing Xia","orcid":null},"institutions":[{"id":"https://openalex.org/I4210126065","display_name":"Shanghai Electric (China)","ror":"https://ror.org/0314qy595","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210126065"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linqing Xia","raw_affiliation_strings":["Shanghai Electric Group Co., Ltd. Central Academe, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Electric Group Co., Ltd. Central Academe, Shanghai, China","institution_ids":["https://openalex.org/I4210126065"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7104","last_page":"7111"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9952999949455261,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9929999709129333,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7633014917373657},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.681289553642273},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5228179693222046},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5151571035385132},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48384347558021545},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.45640289783477783},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.45542851090431213},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.43558192253112793},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.43191128969192505},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41680291295051575},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4153417944908142},{"id":"https://openalex.org/keywords/data-driven","display_name":"Data-driven","score":0.4106161892414093},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.36996394395828247},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3314123749732971},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.2883743643760681},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.14441269636154175}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7633014917373657},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.681289553642273},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5228179693222046},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5151571035385132},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48384347558021545},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.45640289783477783},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.45542851090431213},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.43558192253112793},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.43191128969192505},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41680291295051575},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4153417944908142},{"id":"https://openalex.org/C2780440489","wikidata":"https://www.wikidata.org/wiki/Q5227278","display_name":"Data-driven","level":2,"score":0.4106161892414093},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.36996394395828247},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3314123749732971},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.2883743643760681},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.14441269636154175},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9635979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635979","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1979769287","https://openalex.org/W2006884874","https://openalex.org/W2014725748","https://openalex.org/W2048951385","https://openalex.org/W2071755483","https://openalex.org/W2101234009","https://openalex.org/W2135046866","https://openalex.org/W2239232218","https://openalex.org/W2525748878","https://openalex.org/W2573864470","https://openalex.org/W2745110207","https://openalex.org/W2768748954","https://openalex.org/W2791651676","https://openalex.org/W2887383111","https://openalex.org/W2892208363","https://openalex.org/W2899283552","https://openalex.org/W2899580663","https://openalex.org/W2963113802","https://openalex.org/W2964145209","https://openalex.org/W2964265215","https://openalex.org/W2992833799","https://openalex.org/W3004408974","https://openalex.org/W3014009018","https://openalex.org/W3014869516","https://openalex.org/W3092527036","https://openalex.org/W3100769368","https://openalex.org/W3105090572","https://openalex.org/W4286404334","https://openalex.org/W6675354045","https://openalex.org/W6756449232","https://openalex.org/W6783206112"],"related_works":["https://openalex.org/W2755000966","https://openalex.org/W2150081946","https://openalex.org/W1629725936","https://openalex.org/W1596850336","https://openalex.org/W3121035356","https://openalex.org/W4292862896","https://openalex.org/W2368609325","https://openalex.org/W2165848777","https://openalex.org/W2105907705","https://openalex.org/W1991217139"],"abstract_inverted_index":{"In":[0],"this":[1,23,106,169],"paper,":[2],"we":[3],"propose":[4],"a":[5,10,59,68],"data-driven":[6,158],"modelling":[7],"framework":[8],"using":[9],"sparse":[11],"regression":[12],"technique":[13,108],"to":[14,36,96],"find":[15],"the":[16,25,52,55,76,93,97,101,120,125,128,135,146,150,157,160,164],"governing":[17],"equations":[18],"of":[19,28,45,54,75,119,145,168],"dynamics":[20],"systems.":[21],"With":[22],"approach,":[24],"prior":[26,43],"knowledge":[27,44],"features":[29],"from":[30],"simple":[31],"structures":[32],"can":[33,109],"be":[34,110],"used":[35],"deduce":[37],"which":[38],"on":[39,127],"complex":[40],"structures.":[41],"The":[42,62,81],"single-pendulums,":[46],"double-pendulums,":[47],"and":[48,78,91,141,159,166],"spherical":[49],"pendulum":[50],"enlightens":[51],"guess":[53],"feature":[56,63],"library":[57,64],"for":[58,124],"3-DOF":[60],"manipulator.":[61],"is":[65,131],"sparsifled":[66],"with":[67,84,100,139],"fully":[69],"autonomous":[70],"machine":[71],"learning":[72],"algorithm":[73],"composited":[74],"L1-regularization":[77],"proportional":[79],"filter.":[80],"training":[82],"dataset":[83],"non-zero-mean":[85],"Gaussian":[86],"noise":[87],"simulates":[88],"real-world":[89],"conditions":[90],"proves":[92],"system's":[94],"robustness":[95,167],"noise.":[98],"Compared":[99],"neural-network-based":[102],"system":[103],"identification":[104,170],"method,":[105],"paper's":[107],"promptly":[111],"applied":[112],"in":[113],"dynamic":[114],"trajectory":[115,122],"planning.":[116],"A":[117],"simulation":[118,147],"optimal":[121],"planning":[123],"obstacle-avoidance":[126],"Lynxmotion":[129],"robot":[130],"accomplished":[132],"by":[133],"optimizing":[134],"objective":[136],"function":[137],"constructed":[138],"energy":[140],"penalty":[142],"function.":[143],"Results":[144],"support":[148],"that":[149],"estimated":[151],"model":[152,162],"works":[153],"correctly.":[154],"Comparison":[155],"between":[156],"closed-form":[161],"evidences":[163],"reliability":[165],"technique.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}