{"id":"https://openalex.org/W4415821938","doi":"https://doi.org/10.1109/ro-man63969.2025.11217720","title":"Robust Optimal Motion Planning for Nonlinear Systems in the Context of Neural Abstraction","display_name":"Robust Optimal Motion Planning for Nonlinear Systems in the Context of Neural Abstraction","publication_year":2025,"publication_date":"2025-08-25","ids":{"openalex":"https://openalex.org/W4415821938","doi":"https://doi.org/10.1109/ro-man63969.2025.11217720"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man63969.2025.11217720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man63969.2025.11217720","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","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/A5089466498","display_name":"Yousef Farid","orcid":"https://orcid.org/0000-0003-4310-3934"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Yousef Farid","raw_affiliation_strings":["Universit&#x00E0; di Pisa,Centro di Ricerca E. Piaggio,Dipartimento di Ingegneria Dell&#x2019;Informazione,Pisa,Italy"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; di Pisa,Centro di Ricerca E. Piaggio,Dipartimento di Ingegneria Dell&#x2019;Informazione,Pisa,Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036325234","display_name":"Marco Baracca","orcid":"https://orcid.org/0000-0002-5724-4159"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Baracca","raw_affiliation_strings":["Universit&#x00E0; di Pisa,Centro di Ricerca E. Piaggio,Dipartimento di Ingegneria Dell&#x2019;Informazione,Pisa,Italy"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; di Pisa,Centro di Ricerca E. Piaggio,Dipartimento di Ingegneria Dell&#x2019;Informazione,Pisa,Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086240277","display_name":"Giorgio Simonini","orcid":"https://orcid.org/0009-0006-4696-5889"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Simonini","raw_affiliation_strings":["Universit&#x00E0; di Pisa,Centro di Ricerca E. Piaggio,Dipartimento di Ingegneria Dell&#x2019;Informazione,Pisa,Italy"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; di Pisa,Centro di Ricerca E. Piaggio,Dipartimento di Ingegneria Dell&#x2019;Informazione,Pisa,Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059131700","display_name":"Paolo Salaris","orcid":"https://orcid.org/0000-0003-1313-5898"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Salaris","raw_affiliation_strings":["Universit&#x00E0; di Pisa,Centro di Ricerca E. Piaggio,Dipartimento di Ingegneria Dell&#x2019;Informazione,Pisa,Italy"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; di Pisa,Centro di Ricerca E. Piaggio,Dipartimento di Ingegneria Dell&#x2019;Informazione,Pisa,Italy","institution_ids":["https://openalex.org/I1300504238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5089466498"],"corresponding_institution_ids":["https://openalex.org/I1300504238"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.43143068,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"21","last_page":"27"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.37869998812675476,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.37869998812675476,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.15199999511241913,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.057100001722574234,"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/artificial-neural-network","display_name":"Artificial neural network","score":0.5702999830245972},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5394999980926514},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.534500002861023},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5145000219345093},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4830999970436096},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4611000120639801},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.44369998574256897},{"id":"https://openalex.org/keywords/hybrid-system","display_name":"Hybrid system","score":0.44359999895095825},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.44209998846054077},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.44130000472068787}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5864999890327454},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5702999830245972},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5394999980926514},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.534500002861023},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5145000219345093},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4830999970436096},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4611000120639801},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.44369998574256897},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.44359999895095825},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.44209998846054077},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.44130000472068787},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.43799999356269836},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.39590001106262207},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.38909998536109924},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.38679999113082886},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.382999986410141},{"id":"https://openalex.org/C33962884","wikidata":"https://www.wikidata.org/wiki/Q378637","display_name":"Dynamical system (definition)","level":3,"score":0.3652999997138977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35929998755455017},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3580000102519989},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.35740000009536743},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35199999809265137},{"id":"https://openalex.org/C17095337","wikidata":"https://www.wikidata.org/wiki/Q2375229","display_name":"Piecewise linear function","level":2,"score":0.3321000039577484},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3292999863624573},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3280999958515167},{"id":"https://openalex.org/C114275822","wikidata":"https://www.wikidata.org/wiki/Q621512","display_name":"Linear dynamical system","level":3,"score":0.31949999928474426},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3075999915599823},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3034000098705292},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30329999327659607},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.29280000925064087},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.28679999709129333},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.2865000069141388},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.2833000123500824},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2808000147342682},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.27379998564720154},{"id":"https://openalex.org/C2984842247","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep neural networks","level":3,"score":0.26330000162124634},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2628999948501587},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.2597000002861023}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ro-man63969.2025.11217720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man63969.2025.11217720","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},{"id":"pmh:oai:arpi.unipi.it:11568/1345273","is_oa":false,"landing_page_url":"https://hdl.handle.net/11568/1345273","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2137983211","https://openalex.org/W2164575107","https://openalex.org/W2487779201","https://openalex.org/W2963204102","https://openalex.org/W3015901891","https://openalex.org/W3095911997","https://openalex.org/W3160526279","https://openalex.org/W3214519818","https://openalex.org/W4210899141","https://openalex.org/W4296438159","https://openalex.org/W4386006805","https://openalex.org/W4386580800","https://openalex.org/W4386746485","https://openalex.org/W4402508433","https://openalex.org/W4409536891"],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"automation":[1],"provides":[2],"a":[3,61,165,172,177,182],"great":[4],"contribution":[5],"to":[6,89,140],"increase":[7],"efficiency":[8],"and":[9,131,144,157],"precision":[10],"of":[11,16,25,94,153],"several":[12],"tasks.":[13],"However,":[14],"most":[15],"the":[17,22,26,95,151],"solutions":[18],"used":[19],"rely":[20],"on":[21,168],"perfect":[23],"knowledge":[24],"system\u2019s":[27],"model.":[28],"While":[29],"this":[30,39,54,57,138],"requirement":[31],"could":[32],"be":[33,41],"easily":[34],"fulfilled":[35],"in":[36,45,56,69,117,150,181],"industrial":[37],"setup,":[38],"cannot":[40],"assumed":[42],"as":[43],"true":[44],"more":[46],"general":[47],"scenarios,":[48],"like":[49],"daily":[50],"living":[51],"environment.":[52,185],"To":[53],"aim,":[55],"study,":[58],"we":[59],"present":[60],"novel":[62],"theoretical":[63],"framework":[64,139],"for":[65],"optimal":[66,142],"motion":[67],"planning":[68],"unknown":[70,154],"nonlinear":[71],"dynamical":[72,120],"systems":[73],"using":[74,109,171],"neural":[75,87,110],"abstraction.":[76],"The":[77,101],"proposed":[78],"approach":[79],"establishes":[80],"an":[81,91],"\u03b5-approximate":[82],"simulation":[83,184],"relation,":[84],"leveraging":[85],"deep":[86],"networks":[88,111],"create":[90],"abstracted":[92],"representation":[93],"system":[96],"with":[97,112,176],"quantified":[98],"approximation":[99],"errors.":[100],"state":[102],"space":[103],"is":[104,135,162],"partitioned":[105],"into":[106,137],"polyhedral":[107],"regions":[108],"ReLU":[113],"activation":[114],"functions,":[115],"resulting":[116],"piecewise":[118],"linear":[119],"models.":[121],"A":[122],"hybrid":[123],"control":[124,145],"scheme":[125],"combining":[126],"Tube":[127],"Model":[128],"Predictive":[129],"Control":[130,134],"Sliding":[132],"Mode":[133],"incorporated":[136],"generate":[141],"trajectories":[143],"signals":[146],"while":[147],"ensuring":[148],"stability":[149],"presence":[152],"external":[155],"disturbances":[156],"model":[158],"inaccuracies.":[159],"Its":[160],"effectiveness":[161],"demonstrated":[163],"through":[164],"case":[166],"study":[167],"object":[169],"manipulation":[170],"Franka":[173],"arm":[174],"equipped":[175],"Pisa/IIT":[178],"SoftHand":[179],"gripper":[180],"ROS/Gazebo":[183]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-03T00:00:00"}
