{"id":"https://openalex.org/W2871452302","doi":"https://doi.org/10.1109/tac.2018.2854646","title":"Stochastic Source Seeking for Mobile Robots in Obstacle Environments Via the SPSA Method","display_name":"Stochastic Source Seeking for Mobile Robots in Obstacle Environments Via the SPSA Method","publication_year":2018,"publication_date":"2018-07-10","ids":{"openalex":"https://openalex.org/W2871452302","doi":"https://doi.org/10.1109/tac.2018.2854646","mag":"2871452302"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2018.2854646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2018.2854646","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042089936","display_name":"Eduardo Ram\u00edrez\u2010Llanos","orcid":"https://orcid.org/0000-0002-0266-288X"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Eduardo Ramirez-Llanos","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, La Jolla, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024022921","display_name":"Sonia Mart\u0131\u0301nez","orcid":"https://orcid.org/0000-0001-6756-1484"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sonia Martinez","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, La Jolla, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5042089936"],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":1.8706,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.86353852,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"64","issue":"4","first_page":"1732","last_page":"1739"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.983299970626831,"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/T11513","display_name":"stochastic dynamics and bifurcation","score":0.9657999873161316,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6681724786758423},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5946696400642395},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5611298084259033},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45595434308052063},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4274982511997223},{"id":"https://openalex.org/keywords/simultaneous-perturbation-stochastic-approximation","display_name":"Simultaneous perturbation stochastic approximation","score":0.42664584517478943},{"id":"https://openalex.org/keywords/stochastic-process","display_name":"Stochastic process","score":0.37160640954971313},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3236027956008911},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19177842140197754}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6681724786758423},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5946696400642395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5611298084259033},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45595434308052063},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4274982511997223},{"id":"https://openalex.org/C2779880469","wikidata":"https://www.wikidata.org/wiki/Q17084424","display_name":"Simultaneous perturbation stochastic approximation","level":3,"score":0.42664584517478943},{"id":"https://openalex.org/C8272713","wikidata":"https://www.wikidata.org/wiki/Q176737","display_name":"Stochastic process","level":2,"score":0.37160640954971313},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3236027956008911},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19177842140197754},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2018.2854646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2018.2854646","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[{"id":"https://openalex.org/G8520679809","display_name":null,"funder_award_id":"11RSL548","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"}],"funders":[{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W182781675","https://openalex.org/W1521785144","https://openalex.org/W1571672201","https://openalex.org/W1968683707","https://openalex.org/W1968890289","https://openalex.org/W1976061562","https://openalex.org/W1982988061","https://openalex.org/W2041162749","https://openalex.org/W2048723778","https://openalex.org/W2106216878","https://openalex.org/W2115822571","https://openalex.org/W2124289529","https://openalex.org/W4249513058","https://openalex.org/W6607351067"],"related_works":["https://openalex.org/W1996531137","https://openalex.org/W2463859027","https://openalex.org/W3048645891","https://openalex.org/W1530229580","https://openalex.org/W4320801695","https://openalex.org/W2060758502","https://openalex.org/W3151316732","https://openalex.org/W2587094842","https://openalex.org/W1586494901","https://openalex.org/W2076450475"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"a":[3,11,18,42,88,114,150],"class":[4],"of":[5,17,32,41,75,84,101,145],"stochastic":[6,69,137],"source-seeking":[7],"problems":[8],"to":[9,14,51,72,87],"drive":[10],"mobile":[12],"robot":[13,37],"the":[15,33,36,59,66,76,81,85,94,99,102,119,143,146],"minimizer":[16],"source":[19],"signal.":[20],"Our":[21,62,124],"approach":[22,63],"is":[23],"first":[24],"analyzed":[25],"in":[26,107,149],"an":[27],"obstacle-free":[28],"scenario,":[29],"where":[30],"measurements":[31],"signal":[34,77],"at":[35],"location":[38,100],"and":[39,118,136],"information":[40,74],"contact":[43],"sensor":[44],"are":[45],"required.":[46],"We":[47,79],"extend":[48],"our":[49],"results":[50],"environments":[52],"with":[53],"obstacles":[54],"under":[55],"mild":[56],"assumptions":[57],"on":[58,65,93],"step":[60,95,116],"size.":[61],"builds":[64],"simultaneous":[67],"perturbation":[68],"approximation":[70],"idea":[71],"obtain":[73],"field.":[78],"prove":[80],"practical":[82],"convergence":[83],"algorithms":[86,148],"ball":[89],"whose":[90],"size":[91,96],"depends":[92],"that":[97,108],"contains":[98],"source.":[103],"The":[104],"novelty":[105],"relies":[106],"we":[109,141],"consider":[110],"nondifferentiable":[111],"convex":[112,134],"functions,":[113],"fixed":[115],"size,":[117],"environment":[120],"may":[121],"contain":[122],"obstacles.":[123],"proof":[125],"methods":[126],"employ":[127],"nonsmooth":[128],"Lyapunov":[129],"function":[130],"theory,":[131],"tools":[132],"from":[133],"analysis,":[135],"difference":[138],"inclusions.":[139],"Finally,":[140],"illustrate":[142],"applicability":[144],"proposed":[147],"two-dimensional":[151],"scenarios.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}