{"id":"https://openalex.org/W1976061562","doi":"https://doi.org/10.1109/tac.2012.2186927","title":"Stochastic Source Seeking by Mobile Robots","display_name":"Stochastic Source Seeking by Mobile Robots","publication_year":2012,"publication_date":"2012-02-03","ids":{"openalex":"https://openalex.org/W1976061562","doi":"https://doi.org/10.1109/tac.2012.2186927","mag":"1976061562"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2012.2186927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2012.2186927","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2433/159898","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075575177","display_name":"Shun\u2010ichi Azuma","orcid":"https://orcid.org/0000-0002-7274-0708"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]},{"id":"https://openalex.org/I39012071","display_name":"Kyoto College of Graduate Studies for Informatics","ror":"https://ror.org/05mzj8a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I39012071"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shun-ichi Azuma","raw_affiliation_strings":["Graduate School of Informatics, Kyoto University, Kyoto, Japan","[Grad. Sch. of Inf., Kyoto Univ., Kyoto, Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242","https://openalex.org/I39012071"]},{"raw_affiliation_string":"[Grad. Sch. of Inf., Kyoto Univ., Kyoto, Japan]","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008447841","display_name":"Mahmut Selman Sakar","orcid":"https://orcid.org/0000-0002-7226-3382"},"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":"Mahmut Selman Sakar","raw_affiliation_strings":["Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA, USA","Mech. Eng. Dept., Massachusetts Inst. of Technol., Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Mech. Eng. Dept., Massachusetts Inst. of Technol., Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029243115","display_name":"George J. Pappas","orcid":"https://orcid.org/0000-0001-9081-0637"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George J. Pappas","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","Dept. of Electr. & Syst. Eng., Univ. of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Dept. of Electr. & Syst. Eng., Univ. of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":15.7528,"has_fulltext":false,"cited_by_count":105,"citation_normalized_percentile":{"value":0.98781264,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"57","issue":"9","first_page":"2308","last_page":"2321"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":0.9998999834060669,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9998999834060669,"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":0.9574000239372253,"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/T12321","display_name":"Insect Pheromone Research and Control","score":0.9524999856948853,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.753912091255188},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6570550203323364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5204299092292786},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5187061429023743},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5095306038856506},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4326513409614563},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4309086501598358},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4239032566547394},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3286716639995575},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3195241391658783},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18355804681777954}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.753912091255188},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6570550203323364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5204299092292786},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5187061429023743},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5095306038856506},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4326513409614563},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4309086501598358},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4239032566547394},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3286716639995575},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3195241391658783},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18355804681777954},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tac.2012.2186927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2012.2186927","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:irdb.nii.ac.jp:01221:0000121765","is_oa":true,"landing_page_url":"http://hdl.handle.net/2433/159898","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.409.509","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.409.509","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.georgejpappas.org//papers/06145741.pdf","raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:215998","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/215998","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:irdb.nii.ac.jp:01221:0000121765","is_oa":true,"landing_page_url":"http://hdl.handle.net/2433/159898","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7200000286102295,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W203276351","https://openalex.org/W594357522","https://openalex.org/W1536099054","https://openalex.org/W1540560684","https://openalex.org/W1564897360","https://openalex.org/W1603057632","https://openalex.org/W1964373008","https://openalex.org/W1981220283","https://openalex.org/W2008090983","https://openalex.org/W2011890031","https://openalex.org/W2012117977","https://openalex.org/W2048600308","https://openalex.org/W2054116844","https://openalex.org/W2074759798","https://openalex.org/W2097133442","https://openalex.org/W2115822571","https://openalex.org/W2116336144","https://openalex.org/W2120278281","https://openalex.org/W2121043384","https://openalex.org/W2121966245","https://openalex.org/W2124289529","https://openalex.org/W2131320701","https://openalex.org/W2133009136","https://openalex.org/W2133651102","https://openalex.org/W2141133853","https://openalex.org/W2144530425","https://openalex.org/W2147574995","https://openalex.org/W2159826786","https://openalex.org/W2160773972","https://openalex.org/W2167900638","https://openalex.org/W2168596744","https://openalex.org/W2235056388","https://openalex.org/W3217246742","https://openalex.org/W4243772471","https://openalex.org/W4300443332","https://openalex.org/W6653272017"],"related_works":["https://openalex.org/W2020829486","https://openalex.org/W2383775285","https://openalex.org/W1904098742","https://openalex.org/W2016451691","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W4292862729"],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,12,23,29,35,41,44,54,61,64,67,70,85,89,96,105,120,125,129,140,145,151,157,160,163,166,174,190,200,217,225,232],"problem":[3,126],"of":[4,16,49,66,91,98,107,119,189],"designing":[5],"controllers":[6,242],"to":[7,11,22,40,84,95,150,170,198,220],"steer":[8],"mobile":[9,80],"robots":[10,81],"source":[13,134,153,209,226],"(the":[14],"minimizer)":[15],"a":[17,133,184,196,221,228],"signal":[18,233],"field.":[19],"In":[20,60,88],"addition":[21],"mobility":[24,92],"constraints,":[25,93],"e.g.,":[26],"posed":[27],"by":[28,245],"nonholonomic":[30],"dynamics,":[31],"we":[32,182,207],"assume":[33],"that":[34,144,165,216],"field":[36,56,68,234],"is":[37,57,72,214],"completely":[38,73],"unknown":[39,55,99,152],"robot":[42,45,158,167,218],"and":[43,131,154,186,237],"has":[46],"no":[47],"knowledge":[48],"its":[50],"own":[51],"position.":[52],"Furthermore,":[53,212],"randomly":[58],"switching.":[59],"case":[62],"where":[63],"information":[65],"(e.g.,":[69],"gradient)":[71],"known,":[74],"standard":[75],"motion":[76],"planning":[77],"techniques":[78],"for":[79,123],"would":[82],"converge":[83],"known":[86],"source.":[87],"absence":[90],"convergence":[94],"minimum":[97],"fields":[100],"can":[101,168],"be":[102],"pursued":[103],"using":[104],"framework":[106],"numerical":[108,246],"optimization.":[109],"By":[110],"considering":[111],"these":[112],"facts,":[113],"this":[114,180,205],"paper":[115],"exploits":[116],"an":[117],"idea":[118],"stochastic":[121,192],"approximation":[122,193],"solving":[124],"mentioned":[127],"in":[128,173,227],"beginning":[130],"proposes":[132],"seeking":[135,210],"controller":[136],"which":[137,155],"sequentially":[138],"generates":[139],"next":[141,201],"waypoints":[142],"such":[143],"resulting":[146],"discrete":[147],"trajectory":[148],"converges":[149,219],"steers":[156],"along":[159],"waypoints,":[161],"under":[162],"assumption":[164],"move":[169],"any":[171],"point":[172],"body":[175],"fixed":[176],"coordinate":[177],"frame.":[178],"To":[179],"end,":[181],"develop":[183],"rotation-invariant":[185],"forward-sided":[187],"version":[188],"simultaneous-perturbation":[191],"algorithm":[194],"as":[195],"method":[197],"generate":[199],"waypoints.":[202],"Based":[203],"on":[204],"algorithm,":[206],"design":[208],"controllers.":[211],"it":[213],"proven":[215],"small":[222],"set":[223],"including":[224],"probabilistic":[229],"sense":[230],"if":[231],"switches":[235],"periodically":[236],"sufficiently":[238],"fast.":[239],"The":[240],"proposed":[241],"are":[243],"demonstrated":[244],"simulations.":[247]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}