{"id":"https://openalex.org/W3041214784","doi":"https://doi.org/10.1109/tac.2020.3008126","title":"Robust Motion Planning for Uncertain Systems With Disturbances Using the Invariant-Set Motion Planner","display_name":"Robust Motion Planning for Uncertain Systems With Disturbances Using the Invariant-Set Motion Planner","publication_year":2020,"publication_date":"2020-07-09","ids":{"openalex":"https://openalex.org/W3041214784","doi":"https://doi.org/10.1109/tac.2020.3008126","mag":"3041214784"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2020.3008126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2020.3008126","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/A5072891938","display_name":"Claus Danielson","orcid":"https://orcid.org/0000-0002-2317-3014"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claus Danielson","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories, Cambridge, USA"],"raw_orcid":"https://orcid.org/0000-0002-2317-3014","affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090118616","display_name":"Karl Berntorp","orcid":"https://orcid.org/0000-0002-6809-6657"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karl Berntorp","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories, Cambridge, USA"],"raw_orcid":"https://orcid.org/0000-0002-6809-6657","affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086788149","display_name":"Avishai Weiss","orcid":"https://orcid.org/0000-0002-4261-3038"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Avishai Weiss","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories, Cambridge, USA"],"raw_orcid":"https://orcid.org/0000-0002-4261-3038","affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004144091","display_name":"Stefano Di Cairano","orcid":"https://orcid.org/0000-0002-2363-2807"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefano Di Cairano","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories, Cambridge, USA"],"raw_orcid":"https://orcid.org/0000-0002-2363-2807","affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories, Cambridge, USA","institution_ids":["https://openalex.org/I4210159266"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3494,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.90548054,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"65","issue":"10","first_page":"4456","last_page":"4463"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10142","display_name":"Formal Methods in Verification","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/invariant","display_name":"Invariant (physics)","score":0.7583348155021667},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6051317453384399},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5678263902664185},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.4780602753162384},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.46391382813453674},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.45840126276016235},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4176235496997833},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41752681136131287},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.41308218240737915},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3575208783149719},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.342779278755188},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22013035416603088},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11954885721206665},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09966111183166504}],"concepts":[{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.7583348155021667},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6051317453384399},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5678263902664185},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.4780602753162384},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.46391382813453674},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.45840126276016235},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4176235496997833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41752681136131287},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.41308218240737915},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3575208783149719},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.342779278755188},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22013035416603088},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11954885721206665},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09966111183166504},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2020.3008126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2020.3008126","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":[{"display_name":"Sustainable cities and communities","score":0.7799999713897705,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1559582792","https://openalex.org/W1880805667","https://openalex.org/W1964764014","https://openalex.org/W1971086298","https://openalex.org/W2000359213","https://openalex.org/W2021667711","https://openalex.org/W2042106485","https://openalex.org/W2055340435","https://openalex.org/W2063906864","https://openalex.org/W2100538121","https://openalex.org/W2103052138","https://openalex.org/W2113677790","https://openalex.org/W2114171536","https://openalex.org/W2124651605","https://openalex.org/W2139430868","https://openalex.org/W2145432448","https://openalex.org/W2206417925","https://openalex.org/W2569581312","https://openalex.org/W2740071316","https://openalex.org/W2758107681","https://openalex.org/W2764291795","https://openalex.org/W2775753143","https://openalex.org/W2789442532","https://openalex.org/W2963114352","https://openalex.org/W3140434919","https://openalex.org/W3210839039","https://openalex.org/W6681591399"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W4245435724","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W2055301889","https://openalex.org/W1505959757","https://openalex.org/W2376554934","https://openalex.org/W2077790809","https://openalex.org/W2394276631"],"abstract_inverted_index":{"The":[0,179],"invariant-set":[1,24,135,181],"motion":[2,25,177,182],"planner":[3,26,183],"uses":[4],"a":[5,12,114,164],"collection":[6],"of":[7,127,136,175],"safe":[8],"sets":[9,47,63,149,162],"to":[10,27,108,145,150],"find":[11],"collision-free":[13],"path":[14],"through":[15],"an":[16,187],"obstacle-filled":[17],"environment":[18],"[1]-[4].":[19],"This":[20,37],"article":[21],"extends":[22],"the":[23,42,54,58,61,65,69,74,79,86,92,97,103,109,124,131,142,154,160,171],"systems":[28],"with":[29,48],"persistently":[30,98],"varying":[31,99],"disturbances":[32,100],"and":[33,68,71],"parametric":[34],"model":[35,55],"uncertainty.":[36],"is":[38,184],"accomplished":[39],"by":[40],"replacing":[41],"previously":[43],"used":[44],"positive":[45,50],"invariant":[46,51,62,125,148,161],"robust":[49,116,134,180],"sets.":[52],"Since":[53,96],"uncertainty":[56],"obfuscates":[57],"relationship":[59],"between":[60,147],"in":[64,73,81,91],"state":[66],"space,":[67,76],"references":[70,120],"obstacles":[72,155],"output":[75,88],"we":[77,112,140,169],"reformulate":[78],"dynamics":[80],"velocity":[82],"form":[83],"so":[84],"that":[85],"system":[87,94,105],"appears":[89],"directly":[90],"modified":[93],"state.":[95],"will":[101],"prevent":[102],"closed-loop":[104],"from":[106],"converging":[107],"desired":[110],"reference,":[111],"introduce":[113],"new":[115],"connection":[117],"rule":[118],"where":[119],"are":[121,156],"connected":[122],"when":[123,153],"set":[126],"one":[128],"reference":[129],"contains":[130],"minimal":[132],"volume":[133],"another.":[137],"In":[138],"addition,":[139],"bound":[141],"time":[143],"required":[144],"transition":[146],"ensure":[151],"safety":[152],"moving.":[157],"By":[158],"parameterizing":[159],"using":[163],"precomputed":[165],"input-to-state":[166],"Lyapunov":[167],"function,":[168],"reduce":[170],"real-time":[172],"computational":[173],"complexity":[174],"our":[176],"planner.":[178],"demonstrated":[185],"for":[186],"automated":[188],"highway":[189],"driving":[190],"case":[191],"study.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-16T09:24:06.705377","created_date":"2025-10-10T00:00:00"}
