{"id":"https://openalex.org/W4416748571","doi":"https://doi.org/10.1109/iros60139.2025.11245807","title":"Motion Planning and Control with Unknown Nonlinear Dynamics through Predicted Reachability","display_name":"Motion Planning and Control with Unknown Nonlinear Dynamics through Predicted Reachability","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748571","doi":"https://doi.org/10.1109/iros60139.2025.11245807"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245807","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5026802483","display_name":"Zhiquan Zhang","orcid":"https://orcid.org/0000-0003-2764-321X"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhiquan Zhang","raw_affiliation_strings":["University of Illinois,Urbana-Champaign,IL,USA,61801"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois,Urbana-Champaign,IL,USA,61801","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093097256","display_name":"Gokul Puthumanaillam","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gokul Puthumanaillam","raw_affiliation_strings":["University of Illinois,Urbana-Champaign,IL,USA,61801"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois,Urbana-Champaign,IL,USA,61801","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066343391","display_name":"Manav Vora","orcid":"https://orcid.org/0009-0004-9517-7358"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Manav Vora","raw_affiliation_strings":["University of Illinois,Urbana-Champaign,IL,USA,61801"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois,Urbana-Champaign,IL,USA,61801","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070897457","display_name":"Melkior Ornik","orcid":"https://orcid.org/0000-0002-8510-8787"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Melkior Ornik","raw_affiliation_strings":["University of Illinois,Urbana-Champaign,IL,USA,61801"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois,Urbana-Champaign,IL,USA,61801","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9349,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.81429375,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"342","last_page":"349"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7796000242233276,"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":0.7796000242233276,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.0333000011742115,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.03269999846816063,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/reachability","display_name":"Reachability","score":0.876800000667572},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5496000051498413},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.534600019454956},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5054000020027161},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.4943999946117401},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.48489999771118164},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46810001134872437},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45910000801086426},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4388999938964844},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.43160000443458557}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.876800000667572},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5728999972343445},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5496000051498413},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.534600019454956},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5054000020027161},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.4943999946117401},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.48489999771118164},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46810001134872437},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45910000801086426},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4388999938964844},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.43160000443458557},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.40540000796318054},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.38850000500679016},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.3874000012874603},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.36239999532699585},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35359999537467957},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.35109999775886536},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.3476000130176544},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34150001406669617},{"id":"https://openalex.org/C9628104","wikidata":"https://www.wikidata.org/wiki/Q788009","display_name":"Autonomous system (mathematics)","level":2,"score":0.3407999873161316},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30809998512268066},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.30550000071525574},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.3052000105381012},{"id":"https://openalex.org/C17095337","wikidata":"https://www.wikidata.org/wiki/Q2375229","display_name":"Piecewise linear function","level":2,"score":0.30379998683929443},{"id":"https://openalex.org/C146380142","wikidata":"https://www.wikidata.org/wiki/Q1137726","display_name":"Directed graph","level":2,"score":0.29910001158714294},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.2985000014305115},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29409998655319214},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.29249998927116394},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.28999999165534973},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2838999927043915},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.28360000252723694},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2777000069618225},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.27379998564720154},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.26440000534057617},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.2621000111103058},{"id":"https://openalex.org/C33962884","wikidata":"https://www.wikidata.org/wiki/Q378637","display_name":"Dynamical system (definition)","level":3,"score":0.2619999945163727},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26179999113082886},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.25189998745918274}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245807","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245807","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1144593952","https://openalex.org/W1989196658","https://openalex.org/W2051493878","https://openalex.org/W2052305027","https://openalex.org/W2083439103","https://openalex.org/W2089658861","https://openalex.org/W2111791229","https://openalex.org/W2123640521","https://openalex.org/W2147970103","https://openalex.org/W2291879295","https://openalex.org/W2765805503","https://openalex.org/W2767801795","https://openalex.org/W2949138173","https://openalex.org/W2997338090","https://openalex.org/W3046127830","https://openalex.org/W3119443023","https://openalex.org/W3194343990","https://openalex.org/W4213001083","https://openalex.org/W4229007520","https://openalex.org/W4391117283","https://openalex.org/W4391621022","https://openalex.org/W4405179669"],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"motion":[1],"planning":[2],"under":[3],"unknown":[4,109,173,177],"nonlinear":[5],"dynamics":[6,18,178],"presents":[7],"significant":[8],"challenges.":[9],"An":[10],"agent":[11],"needs":[12],"to":[13,19,28,43,115],"continuously":[14],"explore":[15],"the":[16,55,60,74,85,108,143,153,159],"system":[17,30,61,67,76,92],"acquire":[20],"its":[21,88,176],"properties,":[22],"such":[23],"as":[24,180],"reachability,":[25],"in":[26,172],"order":[27],"guide":[29],"navigation":[31],"adaptively.":[32],"In":[33],"this":[34],"paper,":[35],"we":[36,82,128],"propose":[37,129],"a":[38,45,49,63,78,99,130,148,168,181],"hybrid":[39],"planning-control":[40],"framework":[41,131],"designed":[42],"compute":[44],"feasible":[46],"trajectory":[47],"toward":[48],"target.":[50],"Our":[51],"approach":[52,163],"involves":[53],"partitioning":[54],"state":[56],"space":[57],"and":[58,94,135,146],"approximating":[59],"by":[62,103],"piecewise":[64],"affine":[65,91],"(PWA)":[66],"with":[68,175],"constrained":[69],"control":[70,96],"inputs.":[71],"By":[72],"abstracting":[73],"PWA":[75],"into":[77],"directed":[79],"weighted":[80],"graph,":[81,145],"incrementally":[83],"update":[84],"existence":[86,121],"of":[87,107,161],"edges":[89,116],"via":[90],"identification":[93],"reach":[95],"theory,":[97],"introducing":[98],"predictive":[100,144],"reachability":[101],"condition":[102],"exploiting":[104],"prior":[105],"information":[106],"dynamics.":[110],"Heuristic":[111],"weights":[112],"are":[113],"assigned":[114],"based":[117,151],"on":[118,152],"whether":[119],"their":[120],"is":[122],"certain":[123],"or":[124],"remains":[125],"indeterminate.":[126],"Consequently,":[127],"that":[132],"adaptively":[133],"collects":[134],"analyzes":[136],"data":[137],"during":[138],"mission":[139],"execution,":[140],"continually":[141],"updates":[142],"synthesizes":[147],"controller":[149],"online":[150],"graph":[154],"search":[155],"outcomes.":[156],"We":[157],"demonstrate":[158],"efficacy":[160],"our":[162],"through":[164],"simulation":[165],"scenarios":[166],"involving":[167],"mobile":[169],"robot":[170],"operating":[171],"terrains,":[174],"abstracted":[179],"single":[182],"integrator":[183],"model.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}
