{"id":"https://openalex.org/W4295855490","doi":"https://doi.org/10.23919/acc53348.2022.9867368","title":"Reinforcement Learning Based Online Parameter Adaptation for Model Predictive Tracking Control Under Slippery Condition","display_name":"Reinforcement Learning Based Online Parameter Adaptation for Model Predictive Tracking Control Under Slippery Condition","publication_year":2022,"publication_date":"2022-06-08","ids":{"openalex":"https://openalex.org/W4295855490","doi":"https://doi.org/10.23919/acc53348.2022.9867368"},"language":"en","primary_location":{"id":"doi:10.23919/acc53348.2022.9867368","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867368","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5109331897","display_name":"Huidong Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huidong Gao","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Berkeley,CA,USA,94720"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Berkeley,CA,USA,94720","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100424817","display_name":"Rui Zhou","orcid":"https://orcid.org/0009-0000-8067-7027"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rui Zhou","raw_affiliation_strings":["University of California,Department of Electrical Engineering and Computer Science,Berkeley,CA,USA,94720"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical Engineering and Computer Science,Berkeley,CA,USA,94720","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Berkeley,CA,USA,94720"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Berkeley,CA,USA,94720","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101767626","display_name":"Zhuo Xu","orcid":"https://orcid.org/0000-0002-5792-2589"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhuo Xu","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Berkeley,CA,USA,94720"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Berkeley,CA,USA,94720","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2675","last_page":"2682"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9987999796867371,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9987999796867371,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9965000152587891,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8199058771133423},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8077315092086792},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7097534537315369},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.7066769599914551},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7025282382965088},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6520015001296997},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5538835525512695},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49881434440612793},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4772486686706543},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4708613455295563},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4172390103340149},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34397953748703003},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32003074884414673},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2720291018486023},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20809829235076904}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8199058771133423},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8077315092086792},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7097534537315369},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.7066769599914551},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7025282382965088},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6520015001296997},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5538835525512695},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49881434440612793},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4772486686706543},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4708613455295563},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4172390103340149},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34397953748703003},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32003074884414673},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2720291018486023},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20809829235076904},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc53348.2022.9867368","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867368","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5199999809265137,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1995043365","https://openalex.org/W2027162577","https://openalex.org/W2027758424","https://openalex.org/W2076864989","https://openalex.org/W2102937854","https://openalex.org/W2107349873","https://openalex.org/W2130187425","https://openalex.org/W2133089007","https://openalex.org/W2136423569","https://openalex.org/W2142111022","https://openalex.org/W2145486573","https://openalex.org/W2151435677","https://openalex.org/W2156551348","https://openalex.org/W2164879638","https://openalex.org/W2168992122","https://openalex.org/W2436008783","https://openalex.org/W2513246223","https://openalex.org/W2563839293","https://openalex.org/W2780033408","https://openalex.org/W2781726626","https://openalex.org/W2800530876","https://openalex.org/W2889315996","https://openalex.org/W2906673664","https://openalex.org/W2910288398","https://openalex.org/W2942474135","https://openalex.org/W2984863875","https://openalex.org/W2999762404","https://openalex.org/W3004859065","https://openalex.org/W3028234952","https://openalex.org/W3063106028","https://openalex.org/W3102621632","https://openalex.org/W3129864489","https://openalex.org/W3196320232","https://openalex.org/W6747473740","https://openalex.org/W6754647113","https://openalex.org/W6770458274"],"related_works":["https://openalex.org/W2131012217","https://openalex.org/W4287182928","https://openalex.org/W3161250517","https://openalex.org/W4285370084","https://openalex.org/W2131357063","https://openalex.org/W3136025710","https://openalex.org/W4321214485","https://openalex.org/W4304192615","https://openalex.org/W2005425232","https://openalex.org/W2139992381"],"abstract_inverted_index":{"Wheeled":[0],"mobile":[1,71,97,152],"robots":[2],"have":[3],"a":[4,42,79,179],"great":[5],"variety":[6],"of":[7,70,96],"applications":[8],"both":[9],"indoors":[10],"and":[11,31,59,77,138,146],"outdoors.":[12],"They":[13],"are":[14],"often":[15],"required":[16],"to":[17,40,84,117,188],"work":[18],"in":[19,127,174,178],"various":[20,51,156],"environments":[21],"such":[22],"as":[23],"on":[24,50,67,105,162],"rough":[25],"terrains,":[26,52],"wet":[27],"roads,":[28,30],"icy":[29],"routes":[32],"with":[33,182],"rapid":[34],"cornering.":[35],"Therefore,":[36],"it":[37],"is":[38,176],"important":[39],"design":[41],"control":[43,87,95,114],"scheme":[44,116],"that":[45,56,82],"delivers":[46],"robust":[47,91,139],"tracking":[48,94,140,148],"performance":[49],"especially":[53,142],"the":[54,68,86,100,111,128,151],"ones":[55],"induce":[57],"skidding":[58],"slipping":[60,145],"easily.":[61],"In":[62],"this":[63],"work,":[64],"we":[65],"focus":[66],"challenge":[69],"robot":[72,153],"motion":[73],"under":[74],"slippery":[75],"conditions,":[76],"propose":[78],"hierarchical":[80],"framework":[81,135,159],"learns":[83],"adapt":[85],"parameters":[88,126,166],"online":[89],"for":[90],"model":[92,112,172],"predictive":[93,113],"robots.":[98],"Concretely,":[99],"high":[101],"level":[102],"module":[103],"based":[104],"reinforcement":[106],"learning":[107],"(RL)":[108],"actively":[109],"adjusts":[110],"(MPC)":[115],"be":[118],"more":[119],"aggressive":[120],"or":[121],"conservative,":[122],"by":[123],"adapting":[124],"key":[125],"MPC":[129],"optimization":[130],"formulation.":[131],"Experiments":[132],"demonstrate":[133,189],"our":[134],"achieves":[136],"adaptive":[137],"performance,":[141],"at":[143],"rejecting":[144],"reducing":[147],"errors":[149],"when":[150],"travels":[154],"through":[155],"terrains.":[157],"Our":[158],"neither":[160],"relies":[161],"knowing":[163],"specific":[164],"dynamic":[165],"nor":[167],"requires":[168],"data":[169],"fitting.":[170],"The":[171],"trained":[173],"simulation":[175],"validated":[177],"zero-shot":[180],"manner":[181],"completely":[183],"different":[184],"real-world":[185],"terrain":[186],"conditions":[187],"its":[190],"adaptability.":[191]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
