{"id":"https://openalex.org/W7125932616","doi":"https://doi.org/10.1109/tsmc.2026.3652411","title":"Incremental Heteroscedastic Gaussian Process Regression and Its Applications in Model Predictive Control","display_name":"Incremental Heteroscedastic Gaussian Process Regression and Its Applications in Model Predictive Control","publication_year":2026,"publication_date":"2026-01-28","ids":{"openalex":"https://openalex.org/W7125932616","doi":"https://doi.org/10.1109/tsmc.2026.3652411"},"language":null,"primary_location":{"id":"doi:10.1109/tsmc.2026.3652411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2026.3652411","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5036940181","display_name":"Wei He","orcid":"https://orcid.org/0000-0003-1939-0574"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei He","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, the College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-1939-0574","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, the College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101575076","display_name":"Xiao Liang","orcid":"https://orcid.org/0000-0002-7311-8005"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Liang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, the College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-7311-8005","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, the College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049478658","display_name":"Zhichao Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhichao Yang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, the College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0004-5015-6561","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, the College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124147472","display_name":"Shizhen Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shizhen Wu","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, the College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-2907-8106","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, the College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5122845836","display_name":"Yongchun Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongchun Fang","raw_affiliation_strings":["Institute of Robotics and Automatic Information System, the College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-3061-2708","affiliations":[{"raw_affiliation_string":"Institute of Robotics and Automatic Information System, the College of Artificial Intelligence, and Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10084892,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"56","issue":"4","first_page":"2262","last_page":"2275"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.8971999883651733,"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"}},"topics":[{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.8971999883651733,"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"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.051600001752376556,"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/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.00559999980032444,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/heteroscedasticity","display_name":"Heteroscedasticity","score":0.8468000292778015},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.5419999957084656},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5202999711036682},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.508899986743927},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4433000087738037},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.4246000051498413},{"id":"https://openalex.org/keywords/regression","display_name":"Regression","score":0.41909998655319214},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.414900004863739},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.38519999384880066}],"concepts":[{"id":"https://openalex.org/C101104100","wikidata":"https://www.wikidata.org/wiki/Q1063540","display_name":"Heteroscedasticity","level":2,"score":0.8468000292778015},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5587999820709229},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.5419999957084656},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5202999711036682},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.508899986743927},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4433000087738037},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.4246000051498413},{"id":"https://openalex.org/C83546350","wikidata":"https://www.wikidata.org/wiki/Q1139051","display_name":"Regression","level":2,"score":0.41909998655319214},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.414900004863739},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4108999967575073},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.38519999384880066},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.38019999861717224},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37630000710487366},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.37290000915527344},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.367000013589859},{"id":"https://openalex.org/C152877465","wikidata":"https://www.wikidata.org/wiki/Q208042","display_name":"Regression analysis","level":2,"score":0.3582000136375427},{"id":"https://openalex.org/C71813955","wikidata":"https://www.wikidata.org/wiki/Q503560","display_name":"Ground-penetrating radar","level":3,"score":0.3357999920845032},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.3328000009059906},{"id":"https://openalex.org/C151406439","wikidata":"https://www.wikidata.org/wiki/Q186588","display_name":"Time series","level":2,"score":0.33009999990463257},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.3199000060558319},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3091999888420105},{"id":"https://openalex.org/C8272713","wikidata":"https://www.wikidata.org/wiki/Q176737","display_name":"Stochastic process","level":2,"score":0.30640000104904175},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.30480000376701355},{"id":"https://openalex.org/C155386361","wikidata":"https://www.wikidata.org/wiki/Q1649571","display_name":"Process control","level":3,"score":0.29739999771118164},{"id":"https://openalex.org/C48921125","wikidata":"https://www.wikidata.org/wiki/Q10861030","display_name":"Linear regression","level":2,"score":0.29019999504089355},{"id":"https://openalex.org/C70259352","wikidata":"https://www.wikidata.org/wiki/Q1847839","display_name":"Robust regression","level":3,"score":0.2741999924182892},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.2696000039577484},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C4199805","wikidata":"https://www.wikidata.org/wiki/Q2725903","display_name":"Gaussian noise","level":2,"score":0.2549000084400177},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2531999945640564}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2026.3652411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2026.3652411","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G151289165","display_name":null,"funder_award_id":"U25A20473","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2303075371","display_name":null,"funder_award_id":"62233011","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7051720999","display_name":null,"funder_award_id":"62273187","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":31,"referenced_works":["https://openalex.org/W1510444525","https://openalex.org/W1571870753","https://openalex.org/W1578293866","https://openalex.org/W1941181464","https://openalex.org/W1970781863","https://openalex.org/W1997739388","https://openalex.org/W2014903366","https://openalex.org/W2027787023","https://openalex.org/W2102975675","https://openalex.org/W2103054660","https://openalex.org/W2123487311","https://openalex.org/W2149764047","https://openalex.org/W2158055488","https://openalex.org/W2396317032","https://openalex.org/W2619551236","https://openalex.org/W3011595849","https://openalex.org/W3013679533","https://openalex.org/W3025528584","https://openalex.org/W3032333158","https://openalex.org/W3119042051","https://openalex.org/W3131850807","https://openalex.org/W3134067276","https://openalex.org/W3159489076","https://openalex.org/W3192043231","https://openalex.org/W3213325470","https://openalex.org/W4206754613","https://openalex.org/W4211049957","https://openalex.org/W4226526209","https://openalex.org/W4312886694","https://openalex.org/W4380607278","https://openalex.org/W4391407006"],"related_works":[],"abstract_inverted_index":{"Gaussian":[0],"process":[1],"regression":[2],"(GPR)":[3],"models":[4],"are":[5,32],"becoming":[6],"increasingly":[7],"tightly":[8],"integrated":[9],"into":[10,140],"robotic":[11,134],"systems,":[12],"particularly":[13],"in":[14,24,88,133],"the":[15,40,45,72,105,149,157],"context":[16],"of":[17,65,74,104,113],"robot":[18],"model":[19],"predictive":[20,83],"control":[21],"(MPC)":[22],"operating":[23],"complex":[25],"environments.":[26],"Because":[27],"data":[28],"generated":[29],"by":[30],"robots":[31],"typically":[33],"collected":[34],"online":[35,147],"and":[36,71,121,155,159],"exhibits":[37],"heteroscedasticity":[38],"(i.e.,":[39],"noise":[41],"variance":[42],"depends":[43],"on":[44],"input),":[46],"traditional":[47],"GPR":[48,57,69,79],"may":[49],"not":[50,86],"be":[51],"suitable.":[52],"Thus,":[53],"an":[54,89],"incremental":[55,66],"heteroscedastic":[56,78,126,152],"(IHGPR)":[58],"method":[59,145],"is":[60,85,108],"proposed,":[61],"which":[62],"takes":[63],"advantage":[64],"sparse":[67],"spectrum":[68],"(I-SSGPR)":[70],"framework":[73],"improved":[75],"most":[76],"likely":[77],"(improved":[80],"MLHGPR).":[81],"The":[82,102],"distribution":[84],"only":[87],"explicit":[90],"form":[91],"but":[92],"also":[93],"differentiable,":[94],"rendering":[95],"a":[96,111,141],"plug-and-play":[97],"solution":[98],"for":[99],"optimization-based":[100],"control.":[101],"efficacy":[103],"proposed":[106],"approach":[107],"demonstrated":[109],"through":[110,161],"series":[112],"empirical":[114],"evaluation":[115],"experiments,":[116],"highlighting":[117],"its":[118,130],"time":[119],"efficiency":[120,160],"capacity":[122],"to":[123,146],"accurately":[124],"capture":[125],"signals.":[127],"To":[128],"illustrate":[129],"versatile":[131],"applicability":[132,158],"system":[135],"control,":[136],"we":[137],"integrate":[138],"IHGPR":[139],"robust":[142],"MPC":[143],"(RMPC)":[144],"fit":[148],"state-and":[150],"input-dependent":[151],"stochastic":[153],"disturbances":[154],"present":[156],"simulation":[162],"results.":[163]},"counts_by_year":[],"updated_date":"2026-03-20T20:47:17.329874","created_date":"2026-01-29T00:00:00"}