{"id":"https://openalex.org/W7125959749","doi":"https://doi.org/10.1109/smc58881.2025.11343194","title":"A Hybrid Force-Position Strategy for Shape Control of Deformable Linear Objects With Graph Attention Networks","display_name":"A Hybrid Force-Position Strategy for Shape Control of Deformable Linear Objects With Graph Attention Networks","publication_year":2025,"publication_date":"2025-10-05","ids":{"openalex":"https://openalex.org/W7125959749","doi":"https://doi.org/10.1109/smc58881.2025.11343194"},"language":null,"primary_location":{"id":"doi:10.1109/smc58881.2025.11343194","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc58881.2025.11343194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5124108040","display_name":"Yanzhao Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yanzhao Yu","raw_affiliation_strings":["Tsinghua University,Center of Intelligent Control and Telescience, Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Center of Intelligent Control and Telescience, Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124128610","display_name":"Haotian Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haotian Yang","raw_affiliation_strings":["Tsinghua University,Center of Intelligent Control and Telescience, Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Center of Intelligent Control and Telescience, Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123714190","display_name":"Junbo Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junbo Tan","raw_affiliation_strings":["Tsinghua University,Center of Intelligent Control and Telescience, Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Center of Intelligent Control and Telescience, Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5124089027","display_name":"Xueqian Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueqian Wang","raw_affiliation_strings":["Tsinghua University,Center of Intelligent Control and Telescience, Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Center of Intelligent Control and Telescience, Tsinghua Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5124108040"],"corresponding_institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.67343424,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1669","last_page":"1676"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.304500013589859,"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":0.304500013589859,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.09989999979734421,"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/T10868","display_name":"Soft Robotics and Applications","score":0.08460000157356262,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/underactuation","display_name":"Underactuation","score":0.6162999868392944},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5620999932289124},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.54339998960495},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5264999866485596},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.49140000343322754},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42669999599456787},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35089999437332153},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3504999876022339},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.3433000147342682}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6162999868392944},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6151999831199646},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5620999932289124},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.54339998960495},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5264999866485596},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.49140000343322754},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4406999945640564},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42669999599456787},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35089999437332153},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3504999876022339},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.3433000147342682},{"id":"https://openalex.org/C117978034","wikidata":"https://www.wikidata.org/wiki/Q5422192","display_name":"Extractor","level":2,"score":0.3352000117301941},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.3312999904155731},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.32910001277923584},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.2870999872684479},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.2827000021934509},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.27639999985694885},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.2732999920845032},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.26750001311302185},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2612999975681305},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.2597000002861023},{"id":"https://openalex.org/C146380142","wikidata":"https://www.wikidata.org/wiki/Q1137726","display_name":"Directed graph","level":2,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc58881.2025.11343194","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc58881.2025.11343194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7851166129112244}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2006104867","https://openalex.org/W2158782408","https://openalex.org/W2199659798","https://openalex.org/W2530006557","https://openalex.org/W2967246123","https://openalex.org/W3039664495","https://openalex.org/W3043921574","https://openalex.org/W3192021195","https://openalex.org/W3205009373","https://openalex.org/W3207181464","https://openalex.org/W4221070022","https://openalex.org/W4280511593","https://openalex.org/W4312865075","https://openalex.org/W4362653108","https://openalex.org/W4383108997","https://openalex.org/W4389747990","https://openalex.org/W4389893295","https://openalex.org/W4404043454","https://openalex.org/W4406610567"],"related_works":[],"abstract_inverted_index":{"Manipulating":[0],"deformable":[1],"linear":[2],"objects":[3],"(DLOs)":[4],"such":[5],"as":[6],"wires":[7],"and":[8,18,35,62,75,97,121,133,140],"cables":[9],"is":[10,108],"crucial":[11],"in":[12,71,80,110,130],"various":[13],"applications":[14],"like":[15],"electronics":[16],"assembly":[17],"medical":[19],"surgeries.":[20],"However,":[21],"it":[22],"faces":[23],"challenges":[24],"due":[25],"to":[26,113],"DLOs\u2019":[27],"infinite":[28],"degrees":[29],"of":[30,39,65,127,137],"freedom,":[31],"complex":[32],"nonlinear":[33],"dynamics,":[34],"the":[36,40,72,81,111,125],"underactuated":[37],"nature":[38],"system.":[41],"To":[42],"address":[43],"these":[44],"issues,":[45],"this":[46],"paper":[47],"proposes":[48],"a":[49,86,94,98],"hybrid":[50],"force-position":[51],"strategy":[52],"for":[53],"DLO":[54],"shape":[55,135],"control.":[56],"The":[57,106],"framework,":[58],"combining":[59],"both":[60,119],"force":[61,73],"position":[63,82],"representations":[64],"DLO,":[66],"integrates":[67],"state":[68],"trajectory":[69],"planning":[70],"space":[74],"Model":[76],"Predictive":[77],"Control":[78],"(MPC)":[79],"space.":[83],"We":[84],"present":[85],"dynamics":[87],"model":[88,107],"with":[89],"an":[90],"explicit":[91],"action":[92],"encoder,":[93],"property":[95],"extractor":[96],"graph":[99],"processor":[100],"based":[101],"on":[102],"Graph":[103],"Attention":[104],"Networks.":[105],"used":[109],"MPC":[112],"enhance":[114],"prediction":[115],"accuracy.":[116],"Results":[117],"from":[118],"simulations":[120],"real-world":[122],"experiments":[123],"demonstrate":[124],"effectiveness":[126],"our":[128],"approach":[129],"achieving":[131],"efficient":[132],"stable":[134],"control":[136],"DLOs.":[138],"Codes":[139],"videos":[141],"are":[142],"available":[143],"at":[144],"https://sites.google.com/view/dlom.":[145]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-01-29T00:00:00"}
