{"id":"https://openalex.org/W4389799474","doi":"https://doi.org/10.1109/lcsys.2023.3343422","title":"Constraint Admissible Positive Invariant Sets for Vehicles in SE(3)","display_name":"Constraint Admissible Positive Invariant Sets for Vehicles in SE(3)","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4389799474","doi":"https://doi.org/10.1109/lcsys.2023.3343422"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2023.3343422","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2023.3343422","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/A5072891938","display_name":"Claus Danielson","orcid":"https://orcid.org/0000-0002-2317-3014"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Claus Danielson","raw_affiliation_strings":["Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060650180","display_name":"T. Brandt","orcid":"https://orcid.org/0009-0002-2447-8511"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Teo Brandt","raw_affiliation_strings":["Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5072891938"],"corresponding_institution_ids":["https://openalex.org/I169521973"],"apc_list":null,"apc_paid":null,"fwci":0.4594,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.6293727,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"7","issue":null,"first_page":"3759","last_page":"3764"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.996999979019165,"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":0.9955999851226807,"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/feedback-linearization","display_name":"Feedback linearization","score":0.745537519454956},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.7258010506629944},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.68910151720047},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.6492338180541992},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6487426161766052},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5873750448226929},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5660485029220581},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.4911825358867645},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4749229848384857},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4130447208881378},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.1866377890110016},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.15887874364852905},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08594247698783875},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.08041214942932129},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06520962715148926},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.056070536375045776}],"concepts":[{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.745537519454956},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.7258010506629944},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.68910151720047},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.6492338180541992},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6487426161766052},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5873750448226929},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5660485029220581},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.4911825358867645},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4749229848384857},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4130447208881378},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.1866377890110016},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.15887874364852905},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08594247698783875},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.08041214942932129},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06520962715148926},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.056070536375045776},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"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/lcsys.2023.3343422","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2023.3343422","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":[{"id":"https://openalex.org/G5916674007","display_name":null,"funder_award_id":"FA9550-22-1-0093","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"}],"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":20,"referenced_works":["https://openalex.org/W1977256427","https://openalex.org/W2095233962","https://openalex.org/W2330776804","https://openalex.org/W2513988836","https://openalex.org/W2603471005","https://openalex.org/W2903048415","https://openalex.org/W2922013427","https://openalex.org/W2963114352","https://openalex.org/W2963700124","https://openalex.org/W2990232926","https://openalex.org/W2992793632","https://openalex.org/W3011144385","https://openalex.org/W3041214784","https://openalex.org/W3045806561","https://openalex.org/W3122356311","https://openalex.org/W3129033895","https://openalex.org/W3206190169","https://openalex.org/W3210839039","https://openalex.org/W4248774447","https://openalex.org/W4387342296"],"related_works":["https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W1836713364","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2964841342","https://openalex.org/W4300511988","https://openalex.org/W130230158","https://openalex.org/W2165424018","https://openalex.org/W2317650444"],"abstract_inverted_index":{"This":[0],"paper":[1],"characterizes":[2],"a":[3,23,32,60,108,114],"class":[4],"of":[5,34,62,77],"constraint":[6,88,100],"admissible":[7,101],"positive":[8,43,51,70],"invariant":[9,44,52,71,98],"(CAPI)":[10],"sets":[11,45,53,96],"for":[12,46,54,66],"vehicles":[13],"with":[14,107],"constrained":[15],"nonlinear":[16,56,103],"dynamics":[17],"operating":[18],"in":[19],"SE(3).":[20],"We":[21,39,58,73,90],"present":[22,59,74],"robust":[24,42,48],"linearization":[25,49],"wherein":[26],"the":[27,55,68,84],"nonlinearities":[28],"are":[29,50,97],"eliminated":[30],"using":[31,113],"combination":[33],"feedback-linearization":[35],"and":[36,99,105],"norm-bounded":[37],"disturbances.":[38],"show":[40,92],"that":[41,83],"this":[47],"dynamics.":[57],"trio":[61],"linear":[63,78],"matrix":[64,79],"inequalities":[65,80],"synthesizing":[67],"desired":[69],"sets.":[72],"another":[75],"pair":[76],"which":[81],"ensure":[82],"feedback-linearizing":[85],"controller":[86],"is":[87],"admissible.":[89],"empirically":[91],"our":[93],"candidate":[94,109],"CAPI":[95,110],"through":[102],"simulation":[104],"compare":[106],"set":[111],"synthesized":[112],"non-robust":[115],"linearization.":[116]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
