{"id":"https://openalex.org/W4399728960","doi":"https://doi.org/10.1109/syscon61195.2024.10553558","title":"Monkey See, Monkey Do: Constant Time Delay Leader Following for Wheeled Mobile Robots using Uncertainty-Tuned Model Predictive Control","display_name":"Monkey See, Monkey Do: Constant Time Delay Leader Following for Wheeled Mobile Robots using Uncertainty-Tuned Model Predictive Control","publication_year":2024,"publication_date":"2024-04-15","ids":{"openalex":"https://openalex.org/W4399728960","doi":"https://doi.org/10.1109/syscon61195.2024.10553558"},"language":"en","primary_location":{"id":"doi:10.1109/syscon61195.2024.10553558","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/syscon61195.2024.10553558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Systems Conference (SysCon)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://qspace.library.queensu.ca/bitstreams/afbd245b-0719-4168-b851-b95c014f2b3a/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100719993","display_name":"Kai Wang","orcid":"https://orcid.org/0000-0002-3040-0422"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kai Wang","raw_affiliation_strings":["Queen&#x2019;s University,Ingenuity Labs Research Institute,Kingston,Ontario,Canada"],"affiliations":[{"raw_affiliation_string":"Queen&#x2019;s University,Ingenuity Labs Research Institute,Kingston,Ontario,Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025867957","display_name":"Sidney Givigi","orcid":"https://orcid.org/0000-0002-3829-3545"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sidney Givigi","raw_affiliation_strings":["Queen&#x2019;s University,Ingenuity Labs Research Institute,Kingston,Ontario,Canada"],"affiliations":[{"raw_affiliation_string":"Queen&#x2019;s University,Ingenuity Labs Research Institute,Kingston,Ontario,Canada","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056181361","display_name":"Joshua A. Marshall","orcid":"https://orcid.org/0000-0002-7736-7981"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joshua A. Marshall","raw_affiliation_strings":["Queen&#x2019;s University,Ingenuity Labs Research Institute,Kingston,Ontario,Canada"],"affiliations":[{"raw_affiliation_string":"Queen&#x2019;s University,Ingenuity Labs Research Institute,Kingston,Ontario,Canada","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100719993"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07941744,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9972000122070312,"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/T10791","display_name":"Advanced Control Systems Optimization","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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6917098760604858},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.6460099816322327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5985986590385437},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5784279108047485},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5337444543838501},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5121890902519226},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44772791862487793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24700596928596497}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6917098760604858},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.6460099816322327},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5985986590385437},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5784279108047485},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5337444543838501},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5121890902519226},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44772791862487793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24700596928596497},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/syscon61195.2024.10553558","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/syscon61195.2024.10553558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Systems Conference (SysCon)","raw_type":"proceedings-article"},{"id":"pmh:oai:https://qspace.library.queensu.ca:1974/33161","is_oa":true,"landing_page_url":"https://hdl.handle.net/1974/33161","pdf_url":"http://qspace.library.queensu.ca/bitstreams/afbd245b-0719-4168-b851-b95c014f2b3a/download","source":{"id":"https://openalex.org/S4306402568","display_name":"QSpace (Queen's University Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I204722609","host_organization_name":"Queen's University","host_organization_lineage":["https://openalex.org/I204722609"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:https://qspace.library.queensu.ca:1974/33161","is_oa":true,"landing_page_url":"https://hdl.handle.net/1974/33161","pdf_url":"http://qspace.library.queensu.ca/bitstreams/afbd245b-0719-4168-b851-b95c014f2b3a/download","source":{"id":"https://openalex.org/S4306402568","display_name":"QSpace (Queen's University Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I204722609","host_organization_name":"Queen's University","host_organization_lineage":["https://openalex.org/I204722609"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4399728960.pdf","grobid_xml":"https://content.openalex.org/works/W4399728960.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W292508636","https://openalex.org/W1579508770","https://openalex.org/W2012598033","https://openalex.org/W2028573862","https://openalex.org/W2082551884","https://openalex.org/W2089644495","https://openalex.org/W2125188427","https://openalex.org/W2605642960","https://openalex.org/W2724727121","https://openalex.org/W2751729453","https://openalex.org/W2785613081","https://openalex.org/W2961703895","https://openalex.org/W3004566747","https://openalex.org/W3007020289","https://openalex.org/W3101337057","https://openalex.org/W4210741957","https://openalex.org/W4231720604","https://openalex.org/W4243408142","https://openalex.org/W6610548946","https://openalex.org/W6733370995"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W2060165215","https://openalex.org/W2384015130","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2556120871"],"abstract_inverted_index":{"This":[0,51,154],"paper":[1,52],"presents":[2],"a":[3,18,24,34,37,43,91,100,192],"constant":[4,76],"time":[5,39,77],"delay":[6,40,78],"leader-follower":[7,64,79],"system":[8,179],"for":[9,195],"wheeled":[10],"mobile":[11],"robots":[12,172],"that":[13,93],"can":[14],"be":[15],"used":[16],"in":[17,122,167,173,199],"military":[19],"vehicle":[20,26],"convoy.":[21],"It":[22],"allows":[23],"follower":[25],"to":[27,130,147,182],"follow":[28],"the":[29,49,55,58,63,66,69,82,95,110,113,119,123,139,148,157,178,184,189],"same":[30],"trajectory":[31],"travelled":[32,47],"by":[33,41,48,98],"leader":[35,115],"with":[36],"specified":[38],"estimating":[42],"sequence":[44],"of":[45,57,62,112,141,188],"waypoints":[46],"leader.":[50],"focuses":[53],"on":[54,75,109,159,170],"design":[56,92],"two":[59,83,96],"major":[60],"components":[61,84,97],"system:":[65],"estimator":[67],"and":[68,162,169],"controller.":[70],"Different":[71],"from":[72],"previous":[73],"works":[74],"systems,":[80],"where":[81],"are":[85],"designed":[86,181],"relatively":[87],"independently,":[88],"we":[89,133],"propose":[90],"connects":[94],"having":[99],"model":[101],"predictive":[102],"controller":[103],"(MPC)":[104],"whose":[105],"tuning":[106,161],"is":[107,180],"based":[108],"uncertainties":[111],"estimated":[114],"waypoints.":[116],"By":[117],"weighting":[118],"waypoint":[120],"states":[121],"MPC":[124],"cost":[125],"function":[126],"as":[127,191],"inversely":[128],"proportional":[129],"their":[131],"uncertainties,":[132],"achieve":[134],"better":[135],"tracking":[136,196],"performance":[137,163],"under":[138],"condition":[140],"noisy":[142],"odometry":[143],"sensor":[144],"data":[145],"compared":[146],"traditional":[149],"practice":[150],"equally-weighted":[151],"state":[152],"errors.":[153],"approach":[155],"reduces":[156],"dependence":[158],"empirical":[160],"was":[164],"studied":[165],"both":[166],"simulation":[168],"real":[171],"representative":[174],"off-road":[175],"environments.":[176],"Currently,":[177],"track":[183],"linear,":[185],"longitudinal":[186],"trajectories":[187,198],"leader,":[190],"starting":[193],"point":[194],"nonlinear":[197],"future":[200],"work.":[201]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
