{"id":"https://openalex.org/W3159909972","doi":"https://doi.org/10.1109/lcsys.2022.3181123","title":"Provably Safe Tolerance Estimation for Robot Arms via Sum-of-Squares Programming","display_name":"Provably Safe Tolerance Estimation for Robot Arms via Sum-of-Squares Programming","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W3159909972","doi":"https://doi.org/10.1109/lcsys.2022.3181123","mag":"3159909972"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2022.3181123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2022.3181123","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-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/A5061774277","display_name":"Weiye Zhao","orcid":"https://orcid.org/0000-0002-8426-5238"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Weiye Zhao","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8426-5238","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006031631","display_name":"Suqin He","orcid":"https://orcid.org/0000-0001-9070-2126"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Suqin He","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9070-2126","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040156274","display_name":"Changliu Liu","orcid":"https://orcid.org/0000-0002-3767-5517"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changliu Liu","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3767-5517","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5061774277"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.8505,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.7035119,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"6","issue":null,"first_page":"3439","last_page":"3444"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9987999796867371,"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":0.9987999796867371,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9973999857902527,"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/T11236","display_name":"Control Systems and Identification","score":0.9943000078201294,"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/joint","display_name":"Joint (building)","score":0.5973856449127197},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5846524238586426},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5671601891517639},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5357645153999329},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.510373055934906},{"id":"https://openalex.org/keywords/least-squares-function-approximation","display_name":"Least-squares function approximation","score":0.4908231198787689},{"id":"https://openalex.org/keywords/explained-sum-of-squares","display_name":"Explained sum of squares","score":0.47678259015083313},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.46771636605262756},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.452846884727478},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.44422686100006104},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.42681172490119934},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34860488772392273},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32498621940612793},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16230082511901855},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.14382264018058777},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.11952739953994751},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07024425268173218}],"concepts":[{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5973856449127197},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5846524238586426},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5671601891517639},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5357645153999329},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.510373055934906},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.4908231198787689},{"id":"https://openalex.org/C49847556","wikidata":"https://www.wikidata.org/wiki/Q3964631","display_name":"Explained sum of squares","level":2,"score":0.47678259015083313},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.46771636605262756},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.452846884727478},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.44422686100006104},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.42681172490119934},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34860488772392273},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32498621940612793},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16230082511901855},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.14382264018058777},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.11952739953994751},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07024425268173218},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lcsys.2022.3181123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2022.3181123","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320316514","display_name":"Arm","ror":"https://ror.org/04mmhzs81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W198091129","https://openalex.org/W1495118766","https://openalex.org/W1539838732","https://openalex.org/W1887806484","https://openalex.org/W1967184028","https://openalex.org/W2018304958","https://openalex.org/W2100538121","https://openalex.org/W2106850246","https://openalex.org/W2132967688","https://openalex.org/W2164278974","https://openalex.org/W2734615402","https://openalex.org/W2769097798","https://openalex.org/W2787523326","https://openalex.org/W2963214840","https://openalex.org/W3034214559","https://openalex.org/W3047709486","https://openalex.org/W3109541805","https://openalex.org/W3121943662","https://openalex.org/W4205950066","https://openalex.org/W4300680548","https://openalex.org/W6639429317"],"related_works":["https://openalex.org/W3010831251","https://openalex.org/W2058869626","https://openalex.org/W2106850246","https://openalex.org/W4388252235","https://openalex.org/W2378144170","https://openalex.org/W1991217434","https://openalex.org/W2753003631","https://openalex.org/W2146767785","https://openalex.org/W2332903261","https://openalex.org/W1780286370"],"abstract_inverted_index":{"Tolerance":[0],"estimation":[1],"problems":[2],"are":[3,35],"prevailing":[4],"in":[5,10],"engineering":[6],"applications.":[7],"For":[8],"example,":[9],"modern":[11],"robotics,":[12],"it":[13],"remains":[14],"challenging":[15],"to":[16,44],"efficiently":[17],"estimate":[18,45],"joint":[19,47,65],"tolerance,":[20],"i.e.":[21],"the":[22,46,57,64,72],"maximal":[23],"allowable":[24],"deviation":[25],"from":[26],"a":[27,60],"reference":[28],"robot":[29],"state":[30],"such":[31],"that":[32,56,71],"safety":[33],"constraints":[34],"still":[36],"satisfied.":[37],"This":[38],"paper":[39],"presents":[40],"an":[41],"efficient":[42,77],"algorithm":[43,58],"tolerance":[48],"using":[49],"sum-of-squares":[50],"programming.":[51],"It":[52],"is":[53,75],"theoretically":[54],"proved":[55],"provides":[59],"lower":[61],"bound":[62],"of":[63],"tolerance.":[66],"Extensive":[67],"numerical":[68],"studies":[69],"demonstrate":[70],"proposed":[73],"method":[74],"computationally":[76],"and":[78],"near":[79],"optimal.":[80]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}