{"id":"https://openalex.org/W4386020936","doi":"https://doi.org/10.1177/02783649231186165","title":"Robust feedback motion planning via contraction theory","display_name":"Robust feedback motion planning via contraction theory","publication_year":2023,"publication_date":"2023-08-01","ids":{"openalex":"https://openalex.org/W4386020936","doi":"https://doi.org/10.1177/02783649231186165"},"language":"en","primary_location":{"id":"doi:10.1177/02783649231186165","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649231186165","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5101898346","display_name":"Sumeet Singh","orcid":"https://orcid.org/0000-0003-4510-5853"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sumeet Singh","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003577929","display_name":"Benoit Landry","orcid":"https://orcid.org/0000-0002-0956-3729"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benoit Landry","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013839863","display_name":"Anirudha Majumdar","orcid":null},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anirudha Majumdar","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ, USA","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044026747","display_name":"Jean-Jacques Slotine","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean-Jacques Slotine","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, UK"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, UK","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050003000","display_name":"Marco Pavone","orcid":"https://orcid.org/0000-0002-0206-4337"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco Pavone","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101898346"],"corresponding_institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":5.313,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.9630279,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"42","issue":"9","first_page":"655","last_page":"688"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9986000061035156,"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":0.9936000108718872,"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/T10142","display_name":"Formal Methods in Verification","score":0.9890999794006348,"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/control-theory","display_name":"Control theory (sociology)","score":0.6597597599029541},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.612749457359314},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5854691863059998},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4818464517593384},{"id":"https://openalex.org/keywords/merge","display_name":"Merge (version control)","score":0.4704540967941284},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46911337971687317},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45058223605155945},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.44171321392059326},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3117603063583374},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27063870429992676},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12627199292182922},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09818506240844727}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6597597599029541},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.612749457359314},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5854691863059998},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4818464517593384},{"id":"https://openalex.org/C197129107","wikidata":"https://www.wikidata.org/wiki/Q1921621","display_name":"Merge (version control)","level":2,"score":0.4704540967941284},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46911337971687317},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45058223605155945},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.44171321392059326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3117603063583374},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27063870429992676},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12627199292182922},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09818506240844727},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649231186165","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649231186165","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1795594721","display_name":null,"funder_award_id":"N00014-15-1-2673","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":94,"referenced_works":["https://openalex.org/W1328838","https://openalex.org/W26528315","https://openalex.org/W60768693","https://openalex.org/W796735666","https://openalex.org/W856973001","https://openalex.org/W1513629572","https://openalex.org/W1517592736","https://openalex.org/W1541665771","https://openalex.org/W1814184595","https://openalex.org/W1833752784","https://openalex.org/W1864112212","https://openalex.org/W1964790972","https://openalex.org/W1969160376","https://openalex.org/W1981723834","https://openalex.org/W1988505764","https://openalex.org/W1988705663","https://openalex.org/W1994067443","https://openalex.org/W1999131722","https://openalex.org/W2018291128","https://openalex.org/W2021667711","https://openalex.org/W2024382047","https://openalex.org/W2033118636","https://openalex.org/W2036216368","https://openalex.org/W2042163216","https://openalex.org/W2049355922","https://openalex.org/W2049606892","https://openalex.org/W2051289974","https://openalex.org/W2053833381","https://openalex.org/W2056947227","https://openalex.org/W2066425650","https://openalex.org/W2068384492","https://openalex.org/W2072974724","https://openalex.org/W2075887074","https://openalex.org/W2077924482","https://openalex.org/W2077987282","https://openalex.org/W2080407798","https://openalex.org/W2084166574","https://openalex.org/W2087452255","https://openalex.org/W2093908927","https://openalex.org/W2094935658","https://openalex.org/W2097796524","https://openalex.org/W2097814659","https://openalex.org/W2098955146","https://openalex.org/W2099354898","https://openalex.org/W2100377482","https://openalex.org/W2100538121","https://openalex.org/W2105318691","https://openalex.org/W2105758800","https://openalex.org/W2107046380","https://openalex.org/W2108489060","https://openalex.org/W2116554046","https://openalex.org/W2117079884","https://openalex.org/W2130154921","https://openalex.org/W2132714442","https://openalex.org/W2133404041","https://openalex.org/W2134889984","https://openalex.org/W2135688580","https://openalex.org/W2139809908","https://openalex.org/W2144518067","https://openalex.org/W2152536965","https://openalex.org/W2156155874","https://openalex.org/W2159555929","https://openalex.org/W2162269500","https://openalex.org/W2168069806","https://openalex.org/W2168359464","https://openalex.org/W2168992242","https://openalex.org/W2221045814","https://openalex.org/W2221321873","https://openalex.org/W2437378861","https://openalex.org/W2482392012","https://openalex.org/W2530338644","https://openalex.org/W2565017975","https://openalex.org/W2604410735","https://openalex.org/W2624482344","https://openalex.org/W2735453467","https://openalex.org/W2737223130","https://openalex.org/W2765732465","https://openalex.org/W2769498435","https://openalex.org/W2884545005","https://openalex.org/W2890038505","https://openalex.org/W2891701184","https://openalex.org/W2962683513","https://openalex.org/W2962695240","https://openalex.org/W2962745879","https://openalex.org/W2962822210","https://openalex.org/W2963468788","https://openalex.org/W2963483883","https://openalex.org/W2964040381","https://openalex.org/W2964337106","https://openalex.org/W3013679533","https://openalex.org/W4211147054","https://openalex.org/W4255442211","https://openalex.org/W4255985591","https://openalex.org/W4299992430"],"related_works":["https://openalex.org/W4234886518","https://openalex.org/W2389591058","https://openalex.org/W2382112581","https://openalex.org/W3124036233","https://openalex.org/W4229787472","https://openalex.org/W2486541857","https://openalex.org/W2108840191","https://openalex.org/W196429367","https://openalex.org/W2903025760","https://openalex.org/W4289147272"],"abstract_inverted_index":{"We":[0,181],"present":[1],"a":[2,39,69,82,102,107,110,149,179,197,201],"framework":[3],"for":[4,11,113,225],"online":[5,24,47,93,138],"generation":[6],"of":[7,38,88,152,188,215],"robust":[8,137],"motion":[9,103,221],"plans":[10],"robotic":[12,227],"systems":[13],"with":[14,100],"nonlinear":[15],"dynamics":[16],"subject":[17,206],"to":[18,48,67,77,133,148,161,177,207,218],"bounded":[19],"disturbances,":[20],"control":[21],"constraints,":[22],"and":[23,64,156,190,193,223],"state":[25,74],"constraints":[26],"such":[27,106,163],"as":[28,109,164],"obstacles.":[29],"In":[30,91,131],"an":[31],"offline":[32,55,155],"phase,":[33,94],"one":[34],"computes":[35],"the":[36,73,86,89,92,96,213],"structure":[37],"feedback":[40],"controller":[41],"that":[42,72,119,124],"can":[43,120],"be":[44,121,175],"efficiently":[45],"implemented":[46],"track":[49],"any":[50],"feasible":[51],"nominal":[52,83,117],"trajectory.":[53],"The":[54,210],"phase":[56],"leverages":[57],"contraction":[58],"theory,":[59],"specifically,":[60],"Control":[61],"Contraction":[62],"Metrics,":[63],"convex":[65],"optimization":[66],"characterize":[68],"fixed-size":[70],"\u201ctube\u201d":[71],"is":[75,98,145,157],"guaranteed":[76],"remain":[78],"within":[79],"while":[80,205],"tracking":[81],"trajectory":[84],"(representing":[85],"center":[87],"tube).":[90],"when":[95],"robot":[97],"faced":[99],"obstacles,":[101],"planner":[104],"uses":[105],"tube":[108],"robustness":[111],"margin":[112],"collision":[114],"checking,":[115],"yielding":[116],"trajectories":[118],"safely":[122],"executed,":[123],"is,":[125],"tracked":[126],"without":[127],"collisions":[128],"under":[129],"disturbances.":[130,209],"contrast":[132],"recent":[134],"work":[135],"on":[136,196],"planning":[139],"using":[140],"funnel":[141],"libraries,":[142],"our":[143,183,216],"approach":[144,184,217],"not":[146],"restricted":[147],"fixed":[150],"library":[151],"maneuvers":[153,173],"computed":[154],"thus":[158],"particularly":[159],"well-suited":[160],"applications":[162],"UAV":[165],"flight":[166],"in":[167],"densely":[168],"cluttered":[169],"environments":[170],"where":[171],"complex":[172,202],"may":[174],"required":[176],"reach":[178],"goal.":[180],"demonstrate":[182,212],"through":[185],"numerical":[186],"simulations":[187],"planar":[189],"3D":[191],"quadrotors,":[192],"hardware":[194],"results":[195,211],"quadrotor":[198],"platform":[199],"navigating":[200],"obstacle":[203],"environment":[204],"aerodynamic":[208],"ability":[214],"jointly":[219],"balance":[220],"safety":[222],"efficiency":[224],"agile":[226],"systems.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
