{"id":"https://openalex.org/W4389879683","doi":"https://doi.org/10.1109/tro.2023.3344033","title":"Autogeneration of Mission-Oriented Robot Controllers Using Bayesian-Based Koopman Operator","display_name":"Autogeneration of Mission-Oriented Robot Controllers Using Bayesian-Based Koopman Operator","publication_year":2023,"publication_date":"2023-12-18","ids":{"openalex":"https://openalex.org/W4389879683","doi":"https://doi.org/10.1109/tro.2023.3344033"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3344033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3344033","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100653867","display_name":"Jie Pan","orcid":"https://orcid.org/0000-0002-2031-7932"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Pan","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100683860","display_name":"Dongyue Li","orcid":"https://orcid.org/0000-0002-7824-8546"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongyue Li","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100370574","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0003-3742-9671"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Wang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100426110","display_name":"Pengfei Zhang","orcid":"https://orcid.org/0000-0002-7893-3607"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Zhang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103125729","display_name":"Jinyan Shao","orcid":"https://orcid.org/0009-0000-8820-4072"},"institutions":[{"id":"https://openalex.org/I141649914","display_name":"Nanchang University","ror":"https://ror.org/042v6xz23","country_code":"CN","type":"education","lineage":["https://openalex.org/I141649914"]},{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinyan Shao","raw_affiliation_strings":["Nanchang Innovation Institute, Peking University, Nanchang, China"],"affiliations":[{"raw_affiliation_string":"Nanchang Innovation Institute, Peking University, Nanchang, China","institution_ids":["https://openalex.org/I141649914","https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073958329","display_name":"Junzhi Yu","orcid":"https://orcid.org/0000-0002-6347-572X"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100653867"],"corresponding_institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"],"apc_list":null,"apc_paid":null,"fwci":2.6316,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.89755787,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"40","issue":null,"first_page":"903","last_page":"918"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9962999820709229,"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":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6563210487365723},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.5476951599121094},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5323218703269958},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4859119951725006},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.47789037227630615},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.46244603395462036},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43708258867263794},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3512939214706421},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32187533378601074},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15697813034057617}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6563210487365723},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.5476951599121094},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5323218703269958},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4859119951725006},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.47789037227630615},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.46244603395462036},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43708258867263794},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3512939214706421},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32187533378601074},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15697813034057617},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3344033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3344033","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4875273917","display_name":null,"funder_award_id":"62273351","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5012687669","display_name":null,"funder_award_id":"62203436","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7596075617","display_name":null,"funder_award_id":"62233001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8217207719","display_name":null,"funder_award_id":"62073196","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8670534201","display_name":null,"funder_award_id":"T2121002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W60686164","https://openalex.org/W1591018827","https://openalex.org/W1997054581","https://openalex.org/W2164954534","https://openalex.org/W2192203593","https://openalex.org/W2260195807","https://openalex.org/W2345663989","https://openalex.org/W2380258564","https://openalex.org/W2512916694","https://openalex.org/W2520637732","https://openalex.org/W2560445289","https://openalex.org/W2585005151","https://openalex.org/W2591292776","https://openalex.org/W2594932112","https://openalex.org/W2726140679","https://openalex.org/W2730644873","https://openalex.org/W2735197468","https://openalex.org/W2736450753","https://openalex.org/W2774922731","https://openalex.org/W2792969186","https://openalex.org/W2901112449","https://openalex.org/W2965680175","https://openalex.org/W2998993395","https://openalex.org/W3006845541","https://openalex.org/W3026308822","https://openalex.org/W3039205832","https://openalex.org/W3045004532","https://openalex.org/W3048154513","https://openalex.org/W3090424311","https://openalex.org/W3098898877","https://openalex.org/W3100184721","https://openalex.org/W3101360817","https://openalex.org/W3101392902","https://openalex.org/W3110084462","https://openalex.org/W3114800894","https://openalex.org/W3117515147","https://openalex.org/W3120011419","https://openalex.org/W3120843828","https://openalex.org/W3129807942","https://openalex.org/W3172627855","https://openalex.org/W3180197665","https://openalex.org/W3194366730","https://openalex.org/W3207768479","https://openalex.org/W4200632699","https://openalex.org/W4213308398","https://openalex.org/W4225912419","https://openalex.org/W4226428973","https://openalex.org/W4285060407","https://openalex.org/W4313162102","https://openalex.org/W4399469378","https://openalex.org/W6634207701","https://openalex.org/W6676179485","https://openalex.org/W6678911119","https://openalex.org/W6751421292","https://openalex.org/W6910530838"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W4288076938","https://openalex.org/W2967743314","https://openalex.org/W1990892711","https://openalex.org/W2606825221","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W40488765"],"abstract_inverted_index":{"Model-based":[0],"robot":[1,43,66,156,188],"controllers":[2,157],"require":[3],"customized":[4],"control-oriented":[5,20],"models,":[6],"involving":[7],"expert":[8],"knowledge":[9],"and":[10,12,78,91,119,138,146,158],"trial":[11],"error.":[13],"Remarkably,":[14],"the":[15,19,24,30,33,54,59,71,80,86,93,112,116,120,149,155,169,174],"Koopman":[16,73],"operator":[17],"enables":[18],"model":[21],"identification":[22,89],"through":[23,29],"input\u2013output":[25],"mapping":[26],"set,":[27],"breaking":[28],"barriers":[31],"of":[32,57,115,165],"customization":[34],"services.":[35],"However,":[36],"in":[37,187],"recent":[38],"years,":[39],"research":[40],"on":[41,48],"Koopman-based":[42,87,171],"control":[44,125],"has":[45],"mostly":[46],"focused":[47],"lifting":[49,95,117],"function":[50,96,118],"construction,":[51],"deviating":[52],"from":[53],"original":[55],"intention":[56],"improving":[58],"controller":[60,67,132],"performance.":[61],"Thus,":[62],"we":[63,84],"propose":[64],"a":[65,100,130,161],"autogeneration":[68,133],"framework":[69,134,151],"using":[70],"Bayesian-based":[72,101],"operator,":[74],"significantly":[75],"releasing":[76],"labor":[77],"eliminating":[79],"design":[81,97],"obstacle.":[82],"First,":[83],"introduce":[85],"system":[88],"method":[90],"offer":[92],"basic":[94],"criteria.":[98],"Then,":[99],"optimization":[102,114],"strategy":[103],"with":[104,160],"resource":[105],"allocation":[106],"is":[107,135],"designed,":[108],"which":[109],"allows":[110],"for":[111],"simultaneous":[113],"controller.":[121],"Next,":[122],"taking":[123],"model-predictive":[124],"(MPC)":[126],"as":[127],"an":[128,178],"example,":[129],"mission-oriented":[131],"developed.":[136],"Simulation":[137],"experimental":[139],"results":[140],"indicate":[141],"that,":[142],"under":[143],"various":[144],"robots":[145],"data":[147],"sources,":[148],"proposed":[150,175],"can":[152],"effectively":[153],"generate":[154],"perform":[159],"far":[162],"greater":[163],"level":[164],"mission":[166],"accuracy":[167],"than":[168],"unoptimized":[170],"MPC.":[172],"Meanwhile,":[173],"technique":[176],"exhibits":[177],"obvious":[179],"compensation":[180],"effect":[181],"against":[182],"disturbances,":[183],"demonstrating":[184],"its":[185],"practicability":[186],"control.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":5}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
