{"id":"https://openalex.org/W4200013276","doi":"https://doi.org/10.1109/iros51168.2021.9636306","title":"Combined stochastic-deterministic predictive control using local-minima free navigation","display_name":"Combined stochastic-deterministic predictive control using local-minima free navigation","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200013276","doi":"https://doi.org/10.1109/iros51168.2021.9636306"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636306","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636306","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/A5076144757","display_name":"Gregor Klan\u010dar","orcid":"https://orcid.org/0000-0002-1461-3321"},"institutions":[{"id":"https://openalex.org/I153976015","display_name":"University of Ljubljana","ror":"https://ror.org/05njb9z20","country_code":"SI","type":"education","lineage":["https://openalex.org/I153976015"]}],"countries":["SI"],"is_corresponding":true,"raw_author_name":"Gregor Klancar","raw_affiliation_strings":["Faculty of Elecrical Engineering, University of Ljubljana, Slovenia"],"affiliations":[{"raw_affiliation_string":"Faculty of Elecrical Engineering, University of Ljubljana, Slovenia","institution_ids":["https://openalex.org/I153976015"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081774692","display_name":"Marija Seder","orcid":"https://orcid.org/0000-0002-1418-255X"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Marija Seder","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, University of Zagreb, Croatia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, University of Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5076144757"],"corresponding_institution_ids":["https://openalex.org/I153976015"],"apc_list":null,"apc_paid":null,"fwci":0.3267,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.69239631,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5788","last_page":"5793"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9973000288009644,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9932000041007996,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.9270056486129761},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7328382134437561},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.6349855065345764},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6169820427894592},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5788204669952393},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5626977682113647},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.49302002787590027},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4871053695678711},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.45525655150413513},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43877652287483215},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4180791676044464},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3321661353111267},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3060721158981323},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.30174630880355835},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25175803899765015}],"concepts":[{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.9270056486129761},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7328382134437561},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.6349855065345764},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6169820427894592},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5788204669952393},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5626977682113647},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.49302002787590027},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4871053695678711},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.45525655150413513},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43877652287483215},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4180791676044464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3321661353111267},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3060721158981323},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.30174630880355835},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25175803899765015},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636306","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636306","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/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1993450261","https://openalex.org/W1996183429","https://openalex.org/W2054585537","https://openalex.org/W2083191157","https://openalex.org/W2096078692","https://openalex.org/W2104705453","https://openalex.org/W2113029345","https://openalex.org/W2132990760","https://openalex.org/W2138489481","https://openalex.org/W2379858873","https://openalex.org/W2757731190","https://openalex.org/W2806731640","https://openalex.org/W2953430606","https://openalex.org/W2980929212","https://openalex.org/W6745017795"],"related_works":["https://openalex.org/W2064048336","https://openalex.org/W1527701538","https://openalex.org/W972312834","https://openalex.org/W2738684760","https://openalex.org/W2718687521","https://openalex.org/W2044123854","https://openalex.org/W4238590762","https://openalex.org/W1965964592","https://openalex.org/W3151316732","https://openalex.org/W2929126215"],"abstract_inverted_index":{"This":[0],"work":[1],"proposes":[2],"a":[3,9,15,27,58],"model":[4],"predictive":[5],"control":[6,45],"approach":[7],"of":[8,68],"wheeled":[10],"mobile":[11,83],"robot":[12,84],"based":[13],"on":[14,26,74,79],"local-minima":[16],"free":[17],"navigation":[18,22,34],"function.":[19],"The":[20,66],"constructed":[21],"function":[23],"includes":[24],"information":[25],"goal":[28],"location":[29],"and":[30,42,62,85],"obstacles.":[31],"Novel":[32],"conservative":[33],"is":[35,38,55,72],"introduced":[36],"that":[37],"simple":[39],"to":[40,87],"compute":[41],"yields":[43],"convergent":[44],"behavior.":[46],"To":[47],"solve":[48],"the":[49,52,69,80],"optimization":[50,54],"problem":[51],"combined":[53],"proposed":[56,70],"by":[57,76],"fixed":[59],"candidate":[60],"set":[61],"particle":[63],"swarm":[64],"optimization.":[65],"efficiency":[67],"approaches":[71],"validated":[73],"simulations,":[75],"experimental":[77],"results":[78],"Husky":[81],"A200":[82],"comparisons":[86],"Stable":[88],"Sparse":[89],"RRT":[90],"planner.":[91]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}