{"id":"https://openalex.org/W2809018927","doi":"https://doi.org/10.1109/tro.2018.2830374","title":"Considering Uncertainty in Optimal Robot Control Through High-Order Cost Statistics","display_name":"Considering Uncertainty in Optimal Robot Control Through High-Order Cost Statistics","publication_year":2018,"publication_date":"2018-06-20","ids":{"openalex":"https://openalex.org/W2809018927","doi":"https://doi.org/10.1109/tro.2018.2830374","mag":"2809018927"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2830374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2830374","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1446541","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102022834","display_name":"Jos\u00e9 Ram\u00f3n Medina","orcid":"https://orcid.org/0000-0003-0069-747X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jose R. Medina","raw_affiliation_strings":["FRANKA EMIKA GmbH, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-0069-747X","affiliations":[{"raw_affiliation_string":"FRANKA EMIKA GmbH, Munich, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024376647","display_name":"Sandra Hirche","orcid":"https://orcid.org/0000-0001-7819-5926"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sandra Hirche","raw_affiliation_strings":["Chair of Information-oriented Control, Department of Electrical Engineering and Information Technology, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-7819-5926","affiliations":[{"raw_affiliation_string":"Chair of Information-oriented Control, Department of Electrical Engineering and Information Technology, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.913,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.75151909,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"34","issue":"4","first_page":"1068","last_page":"1081"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9990000128746033,"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":0.9990000128746033,"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/T11236","display_name":"Control Systems and Identification","score":0.9977999925613403,"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":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5440998077392578},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5430848002433777},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4958978593349457},{"id":"https://openalex.org/keywords/order","display_name":"Order (exchange)","score":0.42855918407440186},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4170778691768646},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41175565123558044},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3449544310569763},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34167003631591797},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33644241094589233},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.3250799775123596},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3218599557876587},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2754178047180176},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25378280878067017},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.11572742462158203}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5440998077392578},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5430848002433777},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4958978593349457},{"id":"https://openalex.org/C182306322","wikidata":"https://www.wikidata.org/wiki/Q1779371","display_name":"Order (exchange)","level":2,"score":0.42855918407440186},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4170778691768646},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41175565123558044},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3449544310569763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34167003631591797},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33644241094589233},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.3250799775123596},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3218599557876587},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2754178047180176},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25378280878067017},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.11572742462158203},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2018.2830374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2830374","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1446541","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1446541","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1446541","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1446541","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W280457236","https://openalex.org/W598790613","https://openalex.org/W838050185","https://openalex.org/W1589395967","https://openalex.org/W1603365166","https://openalex.org/W1608758704","https://openalex.org/W1684361744","https://openalex.org/W1975204614","https://openalex.org/W1975311371","https://openalex.org/W1990020728","https://openalex.org/W2000359213","https://openalex.org/W2018705428","https://openalex.org/W2025752438","https://openalex.org/W2029776687","https://openalex.org/W2038581140","https://openalex.org/W2056257343","https://openalex.org/W2060016034","https://openalex.org/W2063176673","https://openalex.org/W2063182199","https://openalex.org/W2063978650","https://openalex.org/W2066557929","https://openalex.org/W2072195747","https://openalex.org/W2084166574","https://openalex.org/W2090298673","https://openalex.org/W2096035449","https://openalex.org/W2104778363","https://openalex.org/W2115796887","https://openalex.org/W2118291463","https://openalex.org/W2128677288","https://openalex.org/W2129463378","https://openalex.org/W2131215403","https://openalex.org/W2140801763","https://openalex.org/W2145101110","https://openalex.org/W2154543878","https://openalex.org/W2159080219","https://openalex.org/W2164429173","https://openalex.org/W2164573437","https://openalex.org/W2167856595","https://openalex.org/W2169982942","https://openalex.org/W2209455490","https://openalex.org/W2209480589","https://openalex.org/W2294316001","https://openalex.org/W2296360731","https://openalex.org/W2798149936","https://openalex.org/W4211008118","https://openalex.org/W4240038629","https://openalex.org/W4255064568","https://openalex.org/W6623386325","https://openalex.org/W6675685508","https://openalex.org/W6677295994","https://openalex.org/W6677522094","https://openalex.org/W6680971464","https://openalex.org/W6681230966","https://openalex.org/W6697143457"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2171912896","https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W218732962","https://openalex.org/W1540467731","https://openalex.org/W1979383880","https://openalex.org/W2538037439"],"abstract_inverted_index":{"As":[0],"the":[1,16,32,81,91,97,101],"application":[2],"of":[3,18,76,109],"probabilistic":[4],"models":[5],"in":[6,27,41,47,90,99],"robotic":[7,48,124],"applications":[8],"increases,":[9],"a":[10,122],"systematic":[11],"robot":[12],"control":[13,35,92],"approach":[14,128],"considering":[15],"effects":[17],"uncertainty":[19,52,69,78],"becomes":[20],"indispensable.":[21],"Inspired":[22],"by":[23],"human":[24],"sensorimotor":[25],"findings,":[26],"this":[28],"paper,":[29],"we":[30],"study":[31],"stochastic":[33],"optimal":[34,57],"problem":[36],"with":[37,50,64,115],"high-order":[38],"cost":[39,82],"statistics":[40],"order":[42],"to":[43],"synthesize":[44],"uncertainty-dependent":[45],"actions":[46],"scenarios":[49],"multiple":[51,67],"sources.":[53],"We":[54,94],"present":[55],"locally":[56],"risk-sensitive":[58],"and":[59,71,112,118,129],"cost-cumulant":[60],"solutions":[61],"for":[62],"settings":[63,114],"nonlinear":[65,113],"dynamics,":[66],"additive":[68],"sources,":[70],"nonquadratic":[72,116],"costs.":[73],"The":[74,107],"influence":[75],"each":[77],"source":[79],"on":[80,121],"can":[83],"be":[84],"individually":[85],"parameterized":[86],"offering":[87],"additional":[88],"flexibility":[89],"design.":[93],"further":[95],"analyze":[96],"case":[98],"which":[100],"static":[102],"uncertain":[103],"parameters":[104],"are":[105],"involved.":[106],"simulations":[108],"several":[110],"linear":[111],"costs":[117],"an":[119],"experiment":[120],"real":[123],"platform":[125],"validate":[126],"our":[127],"illustrate":[130],"its":[131],"peculiarities.":[132]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2018-06-29T00:00:00"}