{"id":"https://openalex.org/W4362689376","doi":"https://doi.org/10.1109/tcst.2023.3262987","title":"Safe Machine-Learning-Supported Model Predictive Force and Motion Control in Robotics","display_name":"Safe Machine-Learning-Supported Model Predictive Force and Motion Control in Robotics","publication_year":2023,"publication_date":"2023-04-06","ids":{"openalex":"https://openalex.org/W4362689376","doi":"https://doi.org/10.1109/tcst.2023.3262987"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2023.3262987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3262987","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5056206872","display_name":"Janine Matschek","orcid":"https://orcid.org/0000-0003-0998-1020"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Janine Matschek","raw_affiliation_strings":["Control and Cyber-Physical Systems Laboratory, TU Darmstadt, Darmstadt, Germany"],"raw_orcid":"https://orcid.org/0000-0003-0998-1020","affiliations":[{"raw_affiliation_string":"Control and Cyber-Physical Systems Laboratory, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012475503","display_name":"Johanna Bethge","orcid":null},"institutions":[{"id":"https://openalex.org/I95793202","display_name":"Otto-von-Guericke-Universit\u00e4t Magdeburg","ror":"https://ror.org/00ggpsq73","country_code":"DE","type":"education","lineage":["https://openalex.org/I95793202"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johanna Bethge","raw_affiliation_strings":["Laboratory of Systems Theory and Automatic Control, Otto-von-Guericke-Universität Magdeburg, Magdeburg, Germany"],"raw_orcid":"https://orcid.org/0009-0007-7484-6462","affiliations":[{"raw_affiliation_string":"Laboratory of Systems Theory and Automatic Control, Otto-von-Guericke-Universität Magdeburg, Magdeburg, Germany","institution_ids":["https://openalex.org/I95793202"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040485515","display_name":"Rolf Findeisen","orcid":"https://orcid.org/0000-0002-9112-5946"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rolf Findeisen","raw_affiliation_strings":["Control and Cyber-Physical Systems Laboratory, TU Darmstadt, Darmstadt, Germany"],"raw_orcid":"https://orcid.org/0000-0002-9112-5946","affiliations":[{"raw_affiliation_string":"Control and Cyber-Physical Systems Laboratory, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6033,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.93214976,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"31","issue":"6","first_page":"2380","last_page":"2392"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9951000213623047,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9951000213623047,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9769999980926514,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9632999897003174,"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/model-predictive-control","display_name":"Model predictive control","score":0.8155349493026733},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.6441147327423096},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6259390711784363},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5224601030349731},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5223682522773743},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.510877788066864},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.497374564409256},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4951697885990143},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4875440299510956},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4495120346546173},{"id":"https://openalex.org/keywords/constraint-satisfaction","display_name":"Constraint satisfaction","score":0.4302995502948761},{"id":"https://openalex.org/keywords/stochastic-process","display_name":"Stochastic process","score":0.42258259654045105},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4202038645744324},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.37212878465652466},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3466542661190033},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.3389033377170563},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.28138959407806396},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22693517804145813},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21454933285713196}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8155349493026733},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.6441147327423096},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6259390711784363},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5224601030349731},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5223682522773743},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.510877788066864},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.497374564409256},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4951697885990143},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4875440299510956},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4495120346546173},{"id":"https://openalex.org/C44616089","wikidata":"https://www.wikidata.org/wiki/Q30158686","display_name":"Constraint satisfaction","level":3,"score":0.4302995502948761},{"id":"https://openalex.org/C8272713","wikidata":"https://www.wikidata.org/wiki/Q176737","display_name":"Stochastic process","level":2,"score":0.42258259654045105},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4202038645744324},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37212878465652466},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3466542661190033},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.3389033377170563},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.28138959407806396},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22693517804145813},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21454933285713196},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2023.3262987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2023.3262987","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:142684","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/142684/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Artikel"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8068444765","display_name":null,"funder_award_id":"03VP06731K","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W1601380202","https://openalex.org/W1724370735","https://openalex.org/W1945252290","https://openalex.org/W1947582079","https://openalex.org/W2001428612","https://openalex.org/W2017280345","https://openalex.org/W2019617942","https://openalex.org/W2034013221","https://openalex.org/W2039166158","https://openalex.org/W2041508465","https://openalex.org/W2053494425","https://openalex.org/W2054326469","https://openalex.org/W2078844124","https://openalex.org/W2084166574","https://openalex.org/W2113265921","https://openalex.org/W2119403788","https://openalex.org/W2119702195","https://openalex.org/W2156982224","https://openalex.org/W2180534877","https://openalex.org/W2214230591","https://openalex.org/W2281096776","https://openalex.org/W2313845455","https://openalex.org/W2339217605","https://openalex.org/W2396317032","https://openalex.org/W2418467170","https://openalex.org/W2480512873","https://openalex.org/W2568780501","https://openalex.org/W2586782891","https://openalex.org/W2619551236","https://openalex.org/W2760078242","https://openalex.org/W2766966634","https://openalex.org/W2789905221","https://openalex.org/W2791704483","https://openalex.org/W2803275621","https://openalex.org/W2887845737","https://openalex.org/W2889390607","https://openalex.org/W2900806034","https://openalex.org/W2903070737","https://openalex.org/W2907668458","https://openalex.org/W2914310289","https://openalex.org/W2972974451","https://openalex.org/W2982518621","https://openalex.org/W2982708116","https://openalex.org/W2993247505","https://openalex.org/W2996180273","https://openalex.org/W3010621561","https://openalex.org/W3046913852","https://openalex.org/W3090017599","https://openalex.org/W3090621842","https://openalex.org/W3104509089","https://openalex.org/W3105252106","https://openalex.org/W3132118981","https://openalex.org/W3155610930","https://openalex.org/W4211049957","https://openalex.org/W4230352707","https://openalex.org/W4250391287","https://openalex.org/W4288336312","https://openalex.org/W4296425087","https://openalex.org/W6749363318","https://openalex.org/W6763216130","https://openalex.org/W6770046914","https://openalex.org/W6772097985","https://openalex.org/W6842740986","https://openalex.org/W7033633158"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2060165215","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W2320869598","https://openalex.org/W2381210024","https://openalex.org/W2767128392","https://openalex.org/W4205300464","https://openalex.org/W3117169107"],"abstract_inverted_index":{"Many":[0],"robotic":[1],"tasks,":[2],"such":[3],"as":[4],"human-robot":[5],"interactions":[6],"or":[7],"the":[8,61,66,70,95,100,105,122,129,134,149,152],"handling":[9],"of":[10,18,118,121,128,151],"fragile":[11],"objects,":[12],"require":[13],"tight":[14],"control":[15,26,42,89,124],"and":[16,21,40,72,87,126,143,169],"limitation":[17],"appearing":[19],"forces":[20,71],"moments":[22],"alongside":[23],"sensible":[24],"motion":[25,41,86],"to":[27,51,59,69,83,155],"achieve":[28,84],"safe":[29,157],"yet":[30],"high-performance":[31],"operation.":[32,158],"We":[33],"propose":[34],"a":[35,109,164],"learning-supported":[36],"model":[37,75,102],"predictive":[38,76],"force":[39,88],"scheme":[43],"that":[44,64],"provides":[45],"stochastic":[46,91,112],"safety":[47],"guarantees":[48],"while":[49],"adapting":[50],"changing":[52],"situations.":[53],"Gaussian":[54,80,153],"processes":[55],"(GPs)":[56],"are":[57,138,145],"used":[58],"learn":[60],"uncertain":[62],"relations":[63],"map":[65],"robot\u2019s":[67],"states":[68],"moments.":[73],"The":[74,159],"controller":[77],"uses":[78],"these":[79],"process":[81,154],"models":[82],"precise":[85],"under":[90],"constraint":[92,141],"satisfaction.":[93],"As":[94],"uncertainty":[96,136],"only":[97],"occurs":[98],"in":[99,167],"static":[101,135],"parts":[103],"\u2014":[104,108],"output":[106],"equations":[107],"computationally":[110],"efficient":[111],"MPC":[113],"formulation":[114,142],"is":[115,161],"used.":[116],"analysis":[117],"recursive":[119],"feasibility":[120],"optimal":[123],"problem":[125],"convergence":[127],"closed":[130],"loop":[131],"system":[132],"for":[133],"case":[137],"given.":[139],"Chance":[140],"back-offs":[144],"constructed":[146],"based":[147],"on":[148,163],"variance":[150],"guarantee":[156],"approach":[160],"illustrated":[162],"lightweight":[165],"robot":[166],"simulations":[168],"experiments.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":6}],"updated_date":"2026-07-10T07:45:09.275182","created_date":"2025-10-10T00:00:00"}