{"id":"https://openalex.org/W4200041344","doi":"https://doi.org/10.1109/iros51168.2021.9636007","title":"An Efficient Understandability Objective for Dynamic Optimal Control","display_name":"An Efficient Understandability Objective for Dynamic Optimal Control","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200041344","doi":"https://doi.org/10.1109/iros51168.2021.9636007"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636007","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":"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/A5028755337","display_name":"David L. McPherson","orcid":"https://orcid.org/0000-0002-6333-6914"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"D. Livingston McPherson","raw_affiliation_strings":["University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103101043","display_name":"S. Shankar Sastry","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Shankar Sastry","raw_affiliation_strings":["University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5028755337"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18502825,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"986","last_page":"992"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9937999844551086,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9864000082015991,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/legibility","display_name":"Legibility","score":0.9010666608810425},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7224960327148438},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6858319044113159},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5397317409515381},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4607338607311249},{"id":"https://openalex.org/keywords/anticipation","display_name":"Anticipation (artificial intelligence)","score":0.4544835090637207},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44993144273757935},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4492732286453247},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43289998173713684},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.42337608337402344},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3393325209617615},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.20867833495140076},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10605165362358093},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10042393207550049}],"concepts":[{"id":"https://openalex.org/C2779332521","wikidata":"https://www.wikidata.org/wiki/Q1820694","display_name":"Legibility","level":2,"score":0.9010666608810425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7224960327148438},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6858319044113159},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5397317409515381},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4607338607311249},{"id":"https://openalex.org/C176777502","wikidata":"https://www.wikidata.org/wiki/Q4774623","display_name":"Anticipation (artificial intelligence)","level":2,"score":0.4544835090637207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44993144273757935},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4492732286453247},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43289998173713684},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.42337608337402344},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3393325209617615},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.20867833495140076},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10605165362358093},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10042393207550049},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636007","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W64088143","https://openalex.org/W1550812296","https://openalex.org/W1964946446","https://openalex.org/W1973447078","https://openalex.org/W1999657641","https://openalex.org/W2008531468","https://openalex.org/W2016721335","https://openalex.org/W2021157664","https://openalex.org/W2106980598","https://openalex.org/W2119199958","https://openalex.org/W2135727220","https://openalex.org/W2151516755","https://openalex.org/W2161304996","https://openalex.org/W2167856595","https://openalex.org/W2246013387","https://openalex.org/W2408443640","https://openalex.org/W2474590732","https://openalex.org/W2594227402","https://openalex.org/W2594775242","https://openalex.org/W2769520592","https://openalex.org/W2789347656","https://openalex.org/W2892466794","https://openalex.org/W2924608561","https://openalex.org/W2944850799","https://openalex.org/W2964010185","https://openalex.org/W3029869912","https://openalex.org/W4205882492","https://openalex.org/W4248056173","https://openalex.org/W6633117799","https://openalex.org/W6677712025","https://openalex.org/W6691038654","https://openalex.org/W6746419623","https://openalex.org/W6760868207","https://openalex.org/W6762157219","https://openalex.org/W6903351479"],"related_works":["https://openalex.org/W565076200","https://openalex.org/W2473574490","https://openalex.org/W2406065423","https://openalex.org/W4386523255","https://openalex.org/W2088472827","https://openalex.org/W1498732016","https://openalex.org/W1480515846","https://openalex.org/W2759286286","https://openalex.org/W2340198091","https://openalex.org/W1986200250"],"abstract_inverted_index":{"Motion":[0],"optimization":[1],"for":[2],"legible":[3,78],"robot":[4],"intent":[5],"has":[6],"largely":[7],"ignored":[8],"the":[9,21,31,34,47,56,71,77,83,87,96,102,117,131],"robot\u2019s":[10],"dynamics,":[11],"citing":[12],"burdensome":[13],"complexity":[14,54],"that":[15,39,68,81],"prevents":[16],"online":[17],"deployment.":[18],"Even":[19],"where":[20],"original":[22,57,72],"task":[23,73],"(to":[24,37],"be":[25,28,60],"communicated)":[26],"could":[27,42],"solved":[29],"on":[30],"dynamical":[32,150],"system,":[33],"legibility":[35,48],"problem":[36],"communicate":[38],"task\u2019s":[40],"intent)":[41],"not.":[43],"This":[44,62],"work":[45],"simplifies":[46],"objective":[49,58],"to":[50,59,74,91,104,111,148],"have":[51],"equivalent":[52],"computational":[53],"as":[55,144,146],"communicated.":[61],"enables":[63],"any":[64,93],"optimal":[65,97],"control":[66,98],"algorithm":[67],"can":[69,129],"solve":[70,76],"also":[75],"version":[79],"of":[80,89,95],"task.Along":[82],"way,":[84],"we":[85],"expand":[86],"definition":[88],"\"intent\"":[90],"include":[92],"parameter":[94],"problem,":[99],"thereby":[100],"opening":[101],"door":[103],"extend":[105],"communications":[106],"beyond":[107],"merely":[108],"desired":[109],"end-points":[110],"running":[112],"preferences":[113],"or":[114,121],"even,":[115],"in":[116,134],"future,":[118],"hard":[119],"capabilities":[120],"safety":[122],"constraints.":[123],"We":[124],"demonstrate":[125],"how":[126],"this":[127],"method":[128],"replicate":[130],"properties":[132],"introduced":[133],"previous":[135],"communicative":[136],"motion":[137],"state-of-the-art":[138],"(like":[139],"legibility,":[140],"exaggeration,":[141],"and":[142],"anticipation)":[143],"well":[145],"apply":[147],"non-holonomic":[149],"systems.":[151]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}