{"id":"https://openalex.org/W4407316169","doi":"https://doi.org/10.1109/lra.2025.3540387","title":"Hybrid Iterative Linear Quadratic Estimation: Optimal Estimation for Hybrid Systems","display_name":"Hybrid Iterative Linear Quadratic Estimation: Optimal Estimation for Hybrid Systems","publication_year":2025,"publication_date":"2025-02-10","ids":{"openalex":"https://openalex.org/W4407316169","doi":"https://doi.org/10.1109/lra.2025.3540387"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3540387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3540387","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation 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/A5013688148","display_name":"J. Joe Payne","orcid":"https://orcid.org/0000-0001-9083-2094"},"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":"J. Joe Payne","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9083-2094","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101959089","display_name":"James Zhu","orcid":"https://orcid.org/0000-0002-7539-0782"},"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":"James Zhu","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7539-0782","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078086231","display_name":"Nathan J. Kong","orcid":"https://orcid.org/0000-0001-5526-0633"},"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":"Nathan J. Kong","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0001-5526-0633","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081925724","display_name":"Aaron M. Johnson","orcid":"https://orcid.org/0000-0002-1629-8329"},"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":"Aaron M. Johnson","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1629-8329","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.01917729,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"4","first_page":"3070","last_page":"3077"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9983000159263611,"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/T11236","display_name":"Control Systems and Identification","score":0.9983000159263611,"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":0.9959999918937683,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9908999800682068,"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/estimation","display_name":"Estimation","score":0.6878677606582642},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.5766932964324951},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5630326271057129},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5046578645706177},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.41676050424575806},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39133188128471375},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10243061184883118}],"concepts":[{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.6878677606582642},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.5766932964324951},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5630326271057129},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5046578645706177},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.41676050424575806},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39133188128471375},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10243061184883118},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3540387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3540387","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5029450041","display_name":"CAREER: Structure and Control of Systems with Contact Uncertainty","funder_award_id":"1943900","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W195033972","https://openalex.org/W1543608798","https://openalex.org/W1550227333","https://openalex.org/W1558079603","https://openalex.org/W1889580255","https://openalex.org/W2001194097","https://openalex.org/W2017974497","https://openalex.org/W2019764672","https://openalex.org/W2049715018","https://openalex.org/W2099308299","https://openalex.org/W2117397690","https://openalex.org/W2121829700","https://openalex.org/W2129231075","https://openalex.org/W2162767308","https://openalex.org/W2327150249","https://openalex.org/W2461166651","https://openalex.org/W2461937780","https://openalex.org/W2483158495","https://openalex.org/W2534090217","https://openalex.org/W2889693550","https://openalex.org/W3000625188","https://openalex.org/W3008131193","https://openalex.org/W3022072906","https://openalex.org/W3169086464","https://openalex.org/W3172835839","https://openalex.org/W4206499684","https://openalex.org/W4210286478","https://openalex.org/W4237726214","https://openalex.org/W4312767858","https://openalex.org/W4386766454","https://openalex.org/W4389667575","https://openalex.org/W4401692710","https://openalex.org/W6608061179","https://openalex.org/W6756660378"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W1979597421","https://openalex.org/W2007980826","https://openalex.org/W2061531152","https://openalex.org/W3002753104","https://openalex.org/W2077600819","https://openalex.org/W2142036596","https://openalex.org/W2072657027","https://openalex.org/W2962838298","https://openalex.org/W2600246793"],"abstract_inverted_index":{"In":[0,124],"this":[1],"letter":[2],"we":[3],"present":[4],"Hybrid":[5],"iterative":[6,54,79],"Linear":[7],"Quadratic":[8],"Estimation":[9],"(HiLQE),":[10],"an":[11,36,53,117],"optimization":[12,57],"based":[13],"offline":[14],"state":[15,59,148],"estimation":[16,143],"algorithm":[17,80,133],"for":[18,97,104],"hybrid":[19,39,46,84],"dynamical":[20],"systems.":[21],"We":[22],"utilize":[23],"the":[24,32,49,66,74,78,87,105,127,132],"saltation":[25],"matrix,":[26],"a":[27,137],"first":[28],"order":[29],"approximation":[30,69],"of":[31,52,65,139],"variational":[33],"update":[34],"through":[35,45],"event":[37],"driven":[38],"transition,":[40],"to":[41,95,126],"calculate":[42],"gradient":[43],"information":[44],"events":[47],"in":[48,77,86,108,142],"backward":[50],"pass":[51,76],"linear":[55],"quadratic":[56],"over":[58,146],"estimates.":[60],"This":[61],"enables":[62],"accurate":[63],"computation":[64],"value":[67],"function":[68],"at":[70],"each":[71],"timestep.":[72],"Additionally,":[73],"forward":[75],"is":[81,93,114],"augmented":[82],"with":[83,121],"dynamics":[85],"rollout.":[88],"A":[89],"reference":[90],"extension":[91],"method":[92,113],"used":[94],"account":[96],"varying":[98],"impact":[99,151],"times":[100],"when":[101],"comparing":[102],"states":[103],"feedback":[106],"gain":[107],"noise":[109],"calculation.":[110],"The":[111],"proposed":[112],"demonstrated":[115],"on":[116],"ASLIP":[118],"hopper":[119],"system":[120],"position":[122],"measurements.":[123],"comparison":[125],"Salted":[128],"Kalman":[129],"Filter":[130],"(SKF),":[131],"presented":[134],"here":[135],"achieves":[136],"maximum":[138],"63.55%":[140],"reduction":[141],"error":[144],"magnitude":[145],"all":[147],"dimensions":[149],"near":[150],"events.":[152]},"counts_by_year":[],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-10-10T00:00:00"}