{"id":"https://openalex.org/W4405785463","doi":"https://doi.org/10.1109/iros58592.2024.10801844","title":"SE(3) Linear Parameter Varying Dynamical Systems for Globally Asymptotically Stable End-Effector Control","display_name":"SE(3) Linear Parameter Varying Dynamical Systems for Globally Asymptotically Stable End-Effector Control","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785463","doi":"https://doi.org/10.1109/iros58592.2024.10801844"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5074919238","display_name":"Sunan Sun","orcid":"https://orcid.org/0009-0002-9956-0691"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sunan Sun","raw_affiliation_strings":["University of Pennsylvania,Department of Mechanical Engineering,Philadelphia,PA,USA,19104"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Mechanical Engineering,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074348852","display_name":"Nadia Figueroa","orcid":"https://orcid.org/0000-0002-6873-4671"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nadia Figueroa","raw_affiliation_strings":["University of Pennsylvania,Department of Mechanical Engineering,Philadelphia,PA,USA,19104"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Mechanical Engineering,Philadelphia,PA,USA,19104","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1652,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.7999463,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5152","last_page":"5159"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.8820000290870667,"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":0.8820000290870667,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.805400013923645,"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/T11110","display_name":"Stability and Controllability of Differential Equations","score":0.796500027179718,"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/control-theory","display_name":"Control theory (sociology)","score":0.6571818590164185},{"id":"https://openalex.org/keywords/effector","display_name":"Effector","score":0.4472462236881256},{"id":"https://openalex.org/keywords/stability-theory","display_name":"Stability theory","score":0.4419679343700409},{"id":"https://openalex.org/keywords/linear-control-systems","display_name":"Linear control systems","score":0.433530330657959},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4177316427230835},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.4102402627468109},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37776774168014526},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36643385887145996},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20358487963676453},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.17898264527320862},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.1589270532131195},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1345635950565338},{"id":"https://openalex.org/keywords/cell-biology","display_name":"Cell biology","score":0.07950299978256226},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06581833958625793}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6571818590164185},{"id":"https://openalex.org/C51785407","wikidata":"https://www.wikidata.org/wiki/Q2627568","display_name":"Effector","level":2,"score":0.4472462236881256},{"id":"https://openalex.org/C41949839","wikidata":"https://www.wikidata.org/wiki/Q1756677","display_name":"Stability theory","level":3,"score":0.4419679343700409},{"id":"https://openalex.org/C2987686001","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Linear control systems","level":3,"score":0.433530330657959},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4177316427230835},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.4102402627468109},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37776774168014526},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36643385887145996},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20358487963676453},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.17898264527320862},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.1589270532131195},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1345635950565338},{"id":"https://openalex.org/C95444343","wikidata":"https://www.wikidata.org/wiki/Q7141","display_name":"Cell biology","level":1,"score":0.07950299978256226},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06581833958625793},{"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/iros58592.2024.10801844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.4000000059604645,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W1628709819","https://openalex.org/W1952489873","https://openalex.org/W1969002377","https://openalex.org/W2085287628","https://openalex.org/W2106284607","https://openalex.org/W2114138219","https://openalex.org/W2129202194","https://openalex.org/W2162695884","https://openalex.org/W2558748708","https://openalex.org/W2580438233","https://openalex.org/W2802383953","https://openalex.org/W2968187318","https://openalex.org/W3015812680","https://openalex.org/W3132689247","https://openalex.org/W4206033904","https://openalex.org/W4210585857","https://openalex.org/W4385732018","https://openalex.org/W4396941466","https://openalex.org/W6754775355","https://openalex.org/W6755802134","https://openalex.org/W6778324997","https://openalex.org/W6846460215","https://openalex.org/W6856460627","https://openalex.org/W6858540724"],"related_works":["https://openalex.org/W2047558453","https://openalex.org/W1999673819","https://openalex.org/W958199350","https://openalex.org/W2380695172","https://openalex.org/W1573796078","https://openalex.org/W2105827667","https://openalex.org/W2139754357","https://openalex.org/W2054831413","https://openalex.org/W2134933822","https://openalex.org/W2152706109"],"abstract_inverted_index":{"Linear":[0],"Parameter":[1],"Varying":[2],"Dynamical":[3],"Systems":[4],"(LPV-DS)":[5],"encode":[6],"trajectories":[7],"into":[8],"an":[9,55],"autonomous":[10],"first-order":[11],"DS":[12],"that":[13,102],"enables":[14],"reactive":[15],"responses":[16],"to":[17,43,57,126,139],"perturbations,":[18],"while":[19,135],"ensuring":[20],"globally":[21],"asymptotic":[22],"stability":[23],"at":[24],"the":[25,28,58,85,93,103,107,131],"target.":[26],"However,":[27],"current":[29,59],"LPV-DS":[30,60],"framework":[31],"is":[32,111],"established":[33],"on":[34],"Euclidean":[35],"data":[36,88],"only":[37],"and":[38,78,115,128],"has":[39],"not":[40],"been":[41],"applicable":[42],"broader":[44],"robotic":[45],"applications":[46],"requiring":[47],"pose":[48,110],"control.":[49],"In":[50],"this":[51],"paper":[52],"we":[53,119],"present":[54],"extension":[56],"framework,":[61],"named":[62],"Quaternion-DS,":[63],"which":[64],"efficiently":[65,127],"learns":[66],"a":[67],"DS-based":[68],"motion":[69],"policy":[70],"for":[71],"orientation.":[72],"Leveraging":[73],"techniques":[74],"from":[75],"differential":[76],"geometry":[77],"Riemannian":[79],"statistics,":[80],"our":[81,121],"approach":[82],"properly":[83],"handles":[84],"non-Euclidean":[86],"orientation":[87],"in":[89,141],"quaternion":[90],"space,":[91],"enabling":[92],"integration":[94],"with":[95],"positional":[96],"control,":[97],"namely":[98],"SE(3)":[99,109,133],"LPV-DS,":[100],"so":[101],"synergistic":[104],"behaviour":[105],"within":[106],"full":[108],"preserved.":[112],"Through":[113],"simulation":[114],"real":[116],"robot":[117],"experiments,":[118],"validate":[120],"method,":[122],"demonstrating":[123],"its":[124],"ability":[125],"accurately":[129],"reproduce":[130],"original":[132],"trajectory":[134],"exhibiting":[136],"strong":[137],"robustness":[138],"perturbations":[140],"task":[142],"space.":[143]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
