{"id":"https://openalex.org/W2145101110","doi":"https://doi.org/10.1109/robot.2009.5152607","title":"icLQG: Combining local and global optimization for control in information space","display_name":"icLQG: Combining local and global optimization for control in information space","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2145101110","doi":"https://doi.org/10.1109/robot.2009.5152607","mag":"2145101110"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152607","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152607","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/59401","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070669740","display_name":"Vu Anh Huynh","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vu Anh Huynh","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, 02139, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103263485","display_name":"Nicholas Roy","orcid":"https://orcid.org/0000-0001-9307-4196"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N. Roy","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, 02139, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5070669740"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":4.5868,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.95336893,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2851","last_page":"2858"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6524477601051331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6156183481216431},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5773215293884277},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4978940486907959},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4924813210964203},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4880289137363434},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.477657675743103},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47510847449302673},{"id":"https://openalex.org/keywords/perfect-information","display_name":"Perfect information","score":0.47463712096214294},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.47457364201545715},{"id":"https://openalex.org/keywords/imperfect","display_name":"Imperfect","score":0.4597058892250061},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4503525495529175},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4341250956058502},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.413992315530777},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41218259930610657},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40544208884239197},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4017384648323059},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2783071994781494},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2630760371685028},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22230234742164612}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6524477601051331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6156183481216431},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5773215293884277},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4978940486907959},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4924813210964203},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4880289137363434},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.477657675743103},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47510847449302673},{"id":"https://openalex.org/C123676819","wikidata":"https://www.wikidata.org/wiki/Q1074338","display_name":"Perfect information","level":2,"score":0.47463712096214294},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.47457364201545715},{"id":"https://openalex.org/C2780310539","wikidata":"https://www.wikidata.org/wiki/Q12547192","display_name":"Imperfect","level":2,"score":0.4597058892250061},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4503525495529175},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4341250956058502},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.413992315530777},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41218259930610657},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40544208884239197},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4017384648323059},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2783071994781494},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2630760371685028},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22230234742164612},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2009.5152607","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152607","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/59401","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/59401","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE","raw_type":"http://purl.org/eprint/type/JournalArticle"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/59401","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/59401","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE","raw_type":"http://purl.org/eprint/type/JournalArticle"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W977458031","https://openalex.org/W1576452626","https://openalex.org/W2035616271","https://openalex.org/W2066557929","https://openalex.org/W2098432798","https://openalex.org/W2099987996","https://openalex.org/W2106237563","https://openalex.org/W2113617958","https://openalex.org/W2128990851","https://openalex.org/W2136237198","https://openalex.org/W2167856595","https://openalex.org/W2400458653","https://openalex.org/W2561843528","https://openalex.org/W6625654502","https://openalex.org/W6675080091","https://openalex.org/W6675657953"],"related_works":["https://openalex.org/W2360321812","https://openalex.org/W2395295193","https://openalex.org/W3122057932","https://openalex.org/W2113798763","https://openalex.org/W3088364074","https://openalex.org/W2004230228","https://openalex.org/W2610227658","https://openalex.org/W2900431508","https://openalex.org/W2145796981","https://openalex.org/W2050340470"],"abstract_inverted_index":{"When":[0],"a":[1,66,79,97,112,157,163],"mobile":[2],"robot":[3,80],"does":[4],"not":[5,27,126],"have":[6],"perfect":[7],"knowledge":[8],"of":[9,23,55,146],"its":[10],"position,":[11,58],"conventional":[12],"controllers":[13],"can":[14,45],"experience":[15],"failures":[16],"such":[17],"as":[18],"collisions":[19],"because":[20],"the":[21,24,53,89,101,119,160],"uncertainty":[22],"position":[25],"is":[26,125,144],"considered":[28],"in":[29,52,61,105,165],"choosing":[30],"control":[31,44,50,114],"actions.":[32],"In":[33,141],"this":[34],"paper,":[35],"we":[36],"show":[37],"how":[38],"global":[39,120],"planning":[40],"and":[41,108,139,162],"local":[42],"feedback":[43,113],"be":[46],"combined":[47],"to":[48,93,116,129,136],"generate":[49],"laws":[51],"space":[54],"distributions":[56],"over":[57],"that":[59,99],"is,":[60],"information":[62,106,132],"space.":[63],"We":[64,151],"give":[65],"novel":[67],"algorithm":[68,87,92,124],"for":[69,77,96,155],"computing":[70],"\u201cinformation-constrained\u201d":[71],"linear":[72],"quadratic":[73],"Gaussian":[74],"(icLQG)":[75],"policies":[76],"controlling":[78,156],"with":[81],"imperfect":[82,130],"state":[83,131],"information.":[84],"The":[85,122],"icLQG":[86,123,143],"uses":[88],"belief":[90],"roadmap":[91],"efficiently":[94],"search":[95],"trajectory":[98],"approximates":[100],"globally-optimal":[102],"motion":[103],"plan":[104],"space,":[107],"then":[109],"iteratively":[110],"computes":[111],"law":[115],"locally":[117],"optimize":[118],"approximation.":[121],"only":[127],"robust":[128],"but":[133],"also":[134],"scalable":[135],"high-dimensional":[137],"systems":[138],"environments.":[140],"addition,":[142],"capable":[145],"answering":[147],"multiple":[148],"queries":[149],"efficiently.":[150],"demonstrate":[152],"performance":[153],"results":[154],"vehicle":[158],"on":[159],"plane":[161],"helicopter":[164],"three":[166],"dimensions.":[167]},"counts_by_year":[{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":6}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}