{"id":"https://openalex.org/W4221165749","doi":"https://doi.org/10.1109/lra.2022.3184769","title":"TOAST: Trajectory Optimization and Simultaneous Tracking Using Shared Neural Network Dynamics","display_name":"TOAST: Trajectory Optimization and Simultaneous Tracking Using Shared Neural Network Dynamics","publication_year":2022,"publication_date":"2022-06-20","ids":{"openalex":"https://openalex.org/W4221165749","doi":"https://doi.org/10.1109/lra.2022.3184769"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3184769","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3184769","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09801632.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09801632.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100657825","display_name":"Taekyung Kim","orcid":"https://orcid.org/0000-0001-6890-5445"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Taekyung Kim","raw_affiliation_strings":["Ground Technology Research Institute, Agency for Defense Development, Daejeon, Korea"],"raw_orcid":"https://orcid.org/0000-0001-6890-5445","affiliations":[{"raw_affiliation_string":"Ground Technology Research Institute, Agency for Defense Development, Daejeon, Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100726313","display_name":"Hojin Lee","orcid":"https://orcid.org/0000-0002-2044-7470"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hojin Lee","raw_affiliation_strings":["Ground Technology Research Institute, Agency for Defense Development, Daejeon, Korea"],"raw_orcid":"https://orcid.org/0000-0002-2044-7470","affiliations":[{"raw_affiliation_string":"Ground Technology Research Institute, Agency for Defense Development, Daejeon, Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023045321","display_name":"Seongil Hong","orcid":"https://orcid.org/0000-0003-4345-0274"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seongil Hong","raw_affiliation_strings":["Ground Technology Research Institute, Agency for Defense Development, Daejeon, Korea"],"raw_orcid":"https://orcid.org/0000-0003-4345-0274","affiliations":[{"raw_affiliation_string":"Ground Technology Research Institute, Agency for Defense Development, Daejeon, Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100745327","display_name":"Wonsuk Lee","orcid":"https://orcid.org/0000-0003-0532-5704"},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wonsuk Lee","raw_affiliation_strings":["Ground Technology Research Institute, Agency for Defense Development, Daejeon, Korea"],"raw_orcid":"https://orcid.org/0000-0003-0532-5704","affiliations":[{"raw_affiliation_string":"Ground Technology Research Institute, Agency for Defense Development, Daejeon, Korea","institution_ids":["https://openalex.org/I2801036362"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2801036362"],"apc_list":null,"apc_paid":null,"fwci":1.0583,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.7408989,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"7","issue":"4","first_page":"9747","last_page":"9754"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9983999729156494,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9983999729156494,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9936000108718872,"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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/trajectory","display_name":"Trajectory","score":0.6826534867286682},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6402040719985962},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.618744432926178},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5624008774757385},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.547734797000885},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3904940187931061},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.2150360345840454},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08628863096237183}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6826534867286682},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6402040719985962},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.618744432926178},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5624008774757385},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.547734797000885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3904940187931061},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.2150360345840454},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08628863096237183},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3184769","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3184769","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09801632.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2201.08321","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2201.08321","pdf_url":"https://arxiv.org/pdf/2201.08321","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.1109/lra.2022.3184769","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2022.3184769","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9831196/09801632.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4221165749.pdf","grobid_xml":"https://content.openalex.org/works/W4221165749.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1522531528","https://openalex.org/W1964946446","https://openalex.org/W2080184275","https://openalex.org/W2087617385","https://openalex.org/W2121523122","https://openalex.org/W2165216595","https://openalex.org/W2167856595","https://openalex.org/W2169209873","https://openalex.org/W2187731943","https://openalex.org/W2410617946","https://openalex.org/W2418368699","https://openalex.org/W2596516188","https://openalex.org/W2798405286","https://openalex.org/W2807050419","https://openalex.org/W2899771611","https://openalex.org/W2914994663","https://openalex.org/W2923554444","https://openalex.org/W2950300520","https://openalex.org/W2952762354","https://openalex.org/W2954115742","https://openalex.org/W2962822327","https://openalex.org/W2963238245","https://openalex.org/W3031634197","https://openalex.org/W3173514854","https://openalex.org/W4205550208","https://openalex.org/W4226176749","https://openalex.org/W6686643907","https://openalex.org/W6759312646","https://openalex.org/W6764339904","https://openalex.org/W6768397756"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"Neural":[0],"networks":[1],"have":[2],"been":[3],"increasingly":[4],"employed":[5],"in":[6,107,123],"Model":[7],"Predictive":[8],"Controller":[9],"(MPC)":[10],"to":[11,29,64,120],"control":[12,44,109,118,150],"nonlinear":[13],"dynamic":[14],"systems.":[15],"However,":[16],"MPC":[17],"still":[18],"poses":[19],"a":[20,42,68,84,94,142],"problem":[21],"that":[22,46,154],"an":[23,49,124],"achievable":[24],"update":[25],"rate":[26],"is":[27,102],"insufficient":[28],"cope":[30],"with":[31,111,129,161],"model":[32],"uncertainty":[33],"and":[34],"external":[35,112],"disturbances.":[36,113],"In":[37,132],"this":[38],"letter,":[39],"we":[40],"present":[41],"novel":[43],"scheme":[45],"can":[47],"design":[48],"optimal":[50,163],"tracking":[51],"controller":[52,146,157],"using":[53],"the":[54,59,138,162],"neural":[55,85],"network":[56,86],"dynamics":[57],"of":[58,97,165],"MPC,":[60],"making":[61],"it":[62],"possible":[63],"be":[65,121],"applied":[66,122],"as":[67],"plug-and-play":[69],"extension":[70],"for":[71],"any":[72],"existing":[73],"model-based":[74],"feedforward":[75],"controller.":[76],"We":[77,114],"also":[78,115,147],"describe":[79],"how":[80],"our":[81,117,135,155],"method":[82,101,136],"handles":[83],"containing":[87],"history":[88],"information,":[89],"which":[90],"does":[91,158],"not":[92,159],"follow":[93],"general":[95],"form":[96],"dynamics.":[98],"The":[99],"proposed":[100],"evaluated":[103],"by":[104,141],"its":[105],"performance":[106],"classical":[108],"benchmarks":[110],"extend":[116],"framework":[119],"aggressive":[125],"autonomous":[126],"driving":[127],"task":[128],"unknown":[130],"friction.":[131],"all":[133],"experiments,":[134],"outperformed":[137],"compared":[139],"methods":[140],"large":[143],"margin.":[144],"Our":[145],"showed":[148],"low":[149],"chattering":[151],"levels,":[152],"demonstrating":[153],"feedback":[156],"interfere":[160],"command":[164],"MPC.":[166],"<xref":[167],"ref-type=\"fn\"":[168],"rid=\"fn1\"":[169],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[170],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><sup/></xref>":[171]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}
