{"id":"https://openalex.org/W2997527913","doi":"https://doi.org/10.1137/19m1238939","title":"Modeling and optimal control of an octopus tentacle","display_name":"Modeling and optimal control of an octopus tentacle","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W2997527913","doi":"https://doi.org/10.1137/19m1238939","mag":"2997527913"},"language":"en","primary_location":{"id":"pmh:oai:iris.uniroma1.it:11573/1403527","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/1403527","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"info:eu-repo/semantics/article"},"type":"article","indexed_in":[],"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/A5031296378","display_name":"Simone Cacace","orcid":"https://orcid.org/0000-0002-5864-0970"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cacace S.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085028347","display_name":"Anna Chiara Lai","orcid":"https://orcid.org/0000-0003-2096-6753"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lai A. C.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5109001455","display_name":"Paola Loreti","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Loreti P.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.61,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.62830005,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11486","display_name":"Micro and Nano Robotics","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9828000068664551,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/mathematics","display_name":"Mathematics","score":0.8072507977485657},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.6105745434761047},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.6030324697494507},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5509212017059326},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.492917537689209},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.44676318764686584},{"id":"https://openalex.org/keywords/eulers-formula","display_name":"Euler's formula","score":0.43998467922210693},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.43422675132751465},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4312606751918793},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.4211307466030121},{"id":"https://openalex.org/keywords/conformable-matrix","display_name":"Conformable matrix","score":0.4209045469760895},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.4201980531215668},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3456827402114868},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34068119525909424},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3306759297847748},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20970410108566284},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15938282012939453},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.12535277009010315},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10811430215835571}],"concepts":[{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.8072507977485657},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.6105745434761047},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.6030324697494507},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5509212017059326},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.492917537689209},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.44676318764686584},{"id":"https://openalex.org/C62884695","wikidata":"https://www.wikidata.org/wiki/Q184871","display_name":"Euler's formula","level":2,"score":0.43998467922210693},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.43422675132751465},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4312606751918793},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.4211307466030121},{"id":"https://openalex.org/C86072612","wikidata":"https://www.wikidata.org/wiki/Q5160239","display_name":"Conformable matrix","level":2,"score":0.4209045469760895},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.4201980531215668},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3456827402114868},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34068119525909424},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3306759297847748},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20970410108566284},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15938282012939453},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.12535277009010315},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10811430215835571},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"pmh:oai:iris.uniroma1.it:11573/1403527","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/1403527","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1967549875","https://openalex.org/W1968306438","https://openalex.org/W1985982794","https://openalex.org/W1995015151","https://openalex.org/W1999910477","https://openalex.org/W2007260570","https://openalex.org/W2010209556","https://openalex.org/W2011562875","https://openalex.org/W2019352618","https://openalex.org/W2042553152","https://openalex.org/W2057624533","https://openalex.org/W2059352377","https://openalex.org/W2070826643","https://openalex.org/W2096645690","https://openalex.org/W2133918216","https://openalex.org/W2155503463","https://openalex.org/W2213329679","https://openalex.org/W2314043639","https://openalex.org/W2562214367","https://openalex.org/W2793493026","https://openalex.org/W2963058770"],"related_works":["https://openalex.org/W2953530054","https://openalex.org/W2937491694","https://openalex.org/W4308131477","https://openalex.org/W3037709338","https://openalex.org/W2558746723","https://openalex.org/W4298844796","https://openalex.org/W2776640331","https://openalex.org/W3177313458","https://openalex.org/W4285119458","https://openalex.org/W4385473703"],"abstract_inverted_index":{"We":[0,23,74,88],"present":[1],"a":[2,47,70,78,96],"control":[3,81],"model":[4,44],"for":[5,111],"an":[6,14,31,107,136],"octopus":[7],"tentacle":[8,86],"based":[9],"on":[10,91],"the":[11,25,40,56,92,99,118,130],"dynamics":[12],"of":[13,27,34,49,135],"inextensible":[15],"string":[16],"with":[17,30,98],"curvature":[18,21],"constraints":[19],"and":[20,37,65],"controls.":[22],"derive":[24],"equations":[26],"motion":[28],"together":[29],"appropriate":[32],"set":[33],"boundary":[35],"conditions,":[36,125],"we":[38,63,105,116,127],"characterize":[39],"corresponding":[41],"equilibria.":[42],"The":[43],"results":[45],"in":[46],"system":[48,132],"fourth-order":[50],"evolutive":[51,119],"nonlinear":[52],"controlled":[53],"PDEs,":[54],"generalizing":[55],"classic":[57],"Euler's":[58],"dynamic":[59],"elastica":[60],"equation,":[61],"that":[62],"approximate":[64],"solve":[66,129],"numerically":[67,128],"by":[68,76,133],"introducing":[69],"finite":[71],"difference":[72],"scheme.":[73],"proceed":[75],"investigating":[77],"reachability":[79],"optimal":[80],"problem":[82],"associated":[83],"to":[84],"our":[85],"model.":[87],"first":[89,122],"focus":[90],"stationary":[93],"case,":[94],"establishing":[95],"relation":[97],"celebrated":[100],"Dubins":[101],"car":[102],"problem.":[103],"Moreover,":[104],"propose":[106],"augmented":[108],"Lagrangian":[109],"method":[110],"its":[112],"numerical":[113],"solution.":[114],"Finally,":[115],"address":[117],"case":[120],"obtaining":[121],"order":[123],"optimality":[124,131],"then":[126],"means":[134],"adjoint-based":[137],"gradient":[138],"descent":[139],"method.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
