{"id":"https://openalex.org/W3155468730","doi":"https://doi.org/10.1109/iros51168.2021.9636164","title":"OneVision: Centralized to Distributed Controller Synthesis with Delay Compensation","display_name":"OneVision: Centralized to Distributed Controller Synthesis with Delay Compensation","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3155468730","doi":"https://doi.org/10.1109/iros51168.2021.9636164","mag":"3155468730"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636164","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/A5091838811","display_name":"Jiayi Wei","orcid":"https://orcid.org/0000-0001-5295-4891"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jiayi Wei","raw_affiliation_strings":["University of Texas at Austin, USA"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027066514","display_name":"Tongrui Li","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tongrui Li","raw_affiliation_strings":["University of Texas at Austin, USA"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057341982","display_name":"Swarat Chaudhuri","orcid":"https://orcid.org/0000-0002-6859-1391"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Swarat Chaudhuri","raw_affiliation_strings":["University of Texas at Austin, USA"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006424908","display_name":"I\u015f\u0131l Dillig","orcid":"https://orcid.org/0000-0001-8006-1230"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Isil Dillig","raw_affiliation_strings":["University of Texas at Austin, USA"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004302220","display_name":"Joydeep Biswas","orcid":"https://orcid.org/0000-0002-1211-1731"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joydeep Biswas","raw_affiliation_strings":["University of Texas at Austin, USA"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin, USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5091838811"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":1.232,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.72480717,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"398","last_page":"405"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9961000084877014,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9948999881744385,"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":0.6475322246551514},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6447951793670654},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4886074662208557},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4882991313934326},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30752819776535034},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07256457209587097}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6475322246551514},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6447951793670654},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4886074662208557},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4882991313934326},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30752819776535034},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07256457209587097},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/iros51168.2021.9636164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636164","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W589128744","https://openalex.org/W1600349401","https://openalex.org/W1964883026","https://openalex.org/W1970786657","https://openalex.org/W1995286048","https://openalex.org/W1996470323","https://openalex.org/W2000359198","https://openalex.org/W2002027000","https://openalex.org/W2015084328","https://openalex.org/W2018380024","https://openalex.org/W2034110742","https://openalex.org/W2039533720","https://openalex.org/W2043172732","https://openalex.org/W2044197961","https://openalex.org/W2067461601","https://openalex.org/W2067638058","https://openalex.org/W2084008601","https://openalex.org/W2112618878","https://openalex.org/W2119959427","https://openalex.org/W2130647945","https://openalex.org/W2139264545","https://openalex.org/W2147928602","https://openalex.org/W2341521787","https://openalex.org/W2524668350","https://openalex.org/W2559336140","https://openalex.org/W2783378806","https://openalex.org/W2796079430","https://openalex.org/W2891461455","https://openalex.org/W2945261046","https://openalex.org/W2951533539","https://openalex.org/W3037708347","https://openalex.org/W3181484951","https://openalex.org/W4388319978"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"We":[0,58,98],"propose":[1,26],"a":[2,67,105,117],"new":[3],"algorithm":[4,38],"to":[5,15,29],"simplify":[6],"the":[7,45,75,81,113,138],"controller":[8,43],"development":[9],"for":[10,33,86],"distributed":[11,50,76],"robotic":[12,35,135],"systems":[13],"subject":[14],"external":[16],"observations,":[17],"disturbances,":[18],"and":[19,47,55,110,125,133,144],"communication":[20,31,53],"delays.":[21],"Unlike":[22],"prior":[23],"approaches":[24],"that":[25,71,112],"specialized":[27],"solutions":[28],"handling":[30],"latency":[32],"specific":[34],"applications,":[36],"our":[37,60,100,142],"uses":[39],"an":[40],"arbitrary":[41],"centralized":[42,83],"as":[44,62],"specification":[46],"automatically":[48],"generates":[49],"controllers":[51],"with":[52],"management":[54],"delay":[56],"compensation.":[57],"formulate":[59],"goal":[61],"nonlinear":[63],"optimal":[64,87],"control\u2014":[65],"using":[66,95],"regret":[68],"minimizing":[69],"objective":[70,94],"measures":[72],"how":[73],"much":[74],"agents":[77],"behave":[78],"differently":[79],"from":[80],"delay-free":[82],"response\u2014and":[84],"solve":[85],"actions":[88],"w.r.t.":[89,122],"local":[90],"estimations":[91],"of":[92,119,141],"this":[93],"gradient-based":[96],"optimization.":[97],"analyze":[99],"proposed":[101],"algorithm\u2019s":[102],"behavior":[103],"under":[104],"linear":[106],"time-invariant":[107],"special":[108],"case":[109],"prove":[111],"closed-loop":[114],"dynamics":[115],"satisfy":[116],"form":[118],"input-to-state":[120],"stability":[121],"unexpected":[123],"disturbances":[124],"observations.":[126],"Our":[127],"experimental":[128],"results":[129],"on":[130],"both":[131],"simulated":[132],"real-world":[134],"tasks":[136],"demonstrate":[137],"practical":[139],"usefulness":[140],"approach":[143],"show":[145],"significant":[146],"improvement":[147],"over":[148],"several":[149],"baseline":[150],"approaches.":[151]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-25T21:42:39.735039","created_date":"2025-10-10T00:00:00"}