{"id":"https://openalex.org/W4386597323","doi":"https://doi.org/10.1109/mmar58394.2023.10242548","title":"Iterative learning-based model predictive control for mobile robots in space applications","display_name":"Iterative learning-based model predictive control for mobile robots in space applications","publication_year":2023,"publication_date":"2023-08-22","ids":{"openalex":"https://openalex.org/W4386597323","doi":"https://doi.org/10.1109/mmar58394.2023.10242548"},"language":"en","primary_location":{"id":"doi:10.1109/mmar58394.2023.10242548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar58394.2023.10242548","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 27th International Conference on Methods and Models in Automation and Robotics (MMAR)","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/A5092843977","display_name":"Niklas Baldauf","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Niklas Baldauf","raw_affiliation_strings":["e:fs TechHub GmbH,e:Space | Space Applications Group,Gaimersheim,Germany","e:Space | Space Applications Group, e:fs TechHub GmbH, Gaimersheim, Germany"],"affiliations":[{"raw_affiliation_string":"e:fs TechHub GmbH,e:Space | Space Applications Group,Gaimersheim,Germany","institution_ids":[]},{"raw_affiliation_string":"e:Space | Space Applications Group, e:fs TechHub GmbH, Gaimersheim, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085583761","display_name":"Alen Turnwald","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alen Turnwald","raw_affiliation_strings":["e:fs TechHub GmbH,e:Space | Space Applications Group,Gaimersheim,Germany","e:Space | Space Applications Group, e:fs TechHub GmbH, Gaimersheim, Germany"],"affiliations":[{"raw_affiliation_string":"e:fs TechHub GmbH,e:Space | Space Applications Group,Gaimersheim,Germany","institution_ids":[]},{"raw_affiliation_string":"e:Space | Space Applications Group, e:fs TechHub GmbH, Gaimersheim, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5092843977"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5628,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.66277815,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"434","last_page":"439"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9993000030517578,"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":0.9993000030517578,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9975000023841858,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.996399998664856,"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/iterative-learning-control","display_name":"Iterative learning control","score":0.7982873916625977},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7935965657234192},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6886860132217407},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6466304063796997},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5819969177246094},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5732811689376831},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5306258201599121},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5264732837677002},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.509377121925354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5081484317779541},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5055954456329346},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4758196473121643},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.45722097158432007},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4521579146385193},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.440653532743454},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21579810976982117},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18141737580299377},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07940396666526794}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.7982873916625977},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7935965657234192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6886860132217407},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6466304063796997},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5819969177246094},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5732811689376831},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5306258201599121},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5264732837677002},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.509377121925354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5081484317779541},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5055954456329346},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4758196473121643},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.45722097158432007},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4521579146385193},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.440653532743454},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21579810976982117},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18141737580299377},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07940396666526794},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar58394.2023.10242548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar58394.2023.10242548","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 27th International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2006859604","https://openalex.org/W2050194500","https://openalex.org/W2133066324","https://openalex.org/W2563378438","https://openalex.org/W2749680651","https://openalex.org/W2810195925","https://openalex.org/W2900806034","https://openalex.org/W2919264892","https://openalex.org/W2954115742","https://openalex.org/W2962775887","https://openalex.org/W2963598509","https://openalex.org/W2963683522","https://openalex.org/W2992833799","https://openalex.org/W2998710335","https://openalex.org/W4211147054","https://openalex.org/W4285182461","https://openalex.org/W4294690657","https://openalex.org/W6749571464"],"related_works":["https://openalex.org/W2761624296","https://openalex.org/W4386994694","https://openalex.org/W4388738109","https://openalex.org/W2362901947","https://openalex.org/W2362086884","https://openalex.org/W4399671601","https://openalex.org/W1606071314","https://openalex.org/W2350210972","https://openalex.org/W2113164274","https://openalex.org/W2132444301"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,15,36],"iterative":[4],"learning-based":[5,43,99],"model":[6,30,47,64,119],"predictive":[7],"controller":[8,34],"(MPC)":[9],"for":[10,130],"trajectory":[11,27,93],"tracking":[12,28,94],"control":[13],"of":[14,96],"autonomous":[16],"planetary":[17],"rover":[18],"on":[19],"unknown":[20],"terrain.":[21],"In":[22],"order":[23],"to":[24,105,117,122],"achieve":[25],"accurate":[26],"under":[29],"uncertainties,":[31],"a":[32,42,54,62,74,87],"nonlinear":[33],"and":[35,49,65,71,103,121,133],"MPC":[37,100],"are":[38,51,67],"utilized,":[39],"combined":[40],"with":[41],"uncertainties":[44,48,120],"approximation.":[45],"The":[46,109],"disturbances":[50],"learned":[52],"using":[53,84],"deep":[55],"neural":[56],"network":[57],"(DNN)":[58],"as":[59,61],"well":[60],"parametric":[63],"results":[66,110],"compared.":[68],"For":[69],"test":[70],"validation":[72],"purposes,":[73],"gazebo":[75],"simulation":[76],"is":[77,80,101,115],"used,":[78],"which":[79],"itself":[81],"already":[82],"validated":[83,102],"data":[85],"from":[86],"prototype":[88],"rover.":[89],"With":[90],"that,":[91],"the":[92,97,113,131,135],"performance":[95],"proposed":[98],"compared":[104],"other":[106],"well-performing":[107],"controllers.":[108],"show":[111],"that":[112],"algorithm":[114],"able":[116],"learn":[118],"compensate":[123],"them":[124],"during":[125],"runtime":[126],"while":[127],"being":[128],"practicable":[129],"implementation":[132],"in":[134],"training":[136],"phase.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}