{"id":"https://openalex.org/W4294691916","doi":"https://doi.org/10.23919/acc53348.2022.9867877","title":"Probabilistically Safe Mobile Manipulation in an Unmodeled Environment with Automated Feedback Tuning","display_name":"Probabilistically Safe Mobile Manipulation in an Unmodeled Environment with Automated Feedback Tuning","publication_year":2022,"publication_date":"2022-06-08","ids":{"openalex":"https://openalex.org/W4294691916","doi":"https://doi.org/10.23919/acc53348.2022.9867877"},"language":"en","primary_location":{"id":"doi:10.23919/acc53348.2022.9867877","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867877","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":"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/A5062154571","display_name":"Tyler Toner","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tyler Toner","raw_affiliation_strings":["University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI","Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025730901","display_name":"Dawn M. Tilbury","orcid":"https://orcid.org/0000-0002-2510-0556"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dawn M. Tilbury","raw_affiliation_strings":["University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI","Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084847741","display_name":"Kira Barton","orcid":"https://orcid.org/0000-0003-1047-8078"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kira Barton","raw_affiliation_strings":["University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI","Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5062154571"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":1.297,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.79290429,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1214","last_page":"1221"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9991000294685364,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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":0.996999979019165,"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/computer-science","display_name":"Computer science","score":0.7490244507789612},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7163499593734741},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6364278793334961},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.6280835270881653},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5720614790916443},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5698708891868591},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5380119681358337},{"id":"https://openalex.org/keywords/feedback-loop","display_name":"Feedback loop","score":0.5199124217033386},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5113267302513123},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.47067102789878845},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45638445019721985},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.44778168201446533},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4312227666378021},{"id":"https://openalex.org/keywords/feedback-controller","display_name":"Feedback controller","score":0.42785540223121643},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33786481618881226},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33459413051605225},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22279655933380127},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.22233155369758606},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19741541147232056},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15771761536598206}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7490244507789612},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7163499593734741},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6364278793334961},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.6280835270881653},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5720614790916443},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5698708891868591},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5380119681358337},{"id":"https://openalex.org/C186886427","wikidata":"https://www.wikidata.org/wiki/Q5441213","display_name":"Feedback loop","level":2,"score":0.5199124217033386},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5113267302513123},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.47067102789878845},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45638445019721985},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.44778168201446533},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4312227666378021},{"id":"https://openalex.org/C2984730371","wikidata":"https://www.wikidata.org/wiki/Q6501221","display_name":"Feedback controller","level":3,"score":0.42785540223121643},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33786481618881226},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33459413051605225},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22279655933380127},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.22233155369758606},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19741541147232056},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15771761536598206},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc53348.2022.9867877","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867877","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320316514","display_name":"Arm","ror":"https://ror.org/04mmhzs81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W88434223","https://openalex.org/W1982442957","https://openalex.org/W2026791259","https://openalex.org/W2031350687","https://openalex.org/W2037841262","https://openalex.org/W2041242313","https://openalex.org/W2049617391","https://openalex.org/W2080361107","https://openalex.org/W2082991751","https://openalex.org/W2111691855","https://openalex.org/W2113698995","https://openalex.org/W2116113712","https://openalex.org/W2132875296","https://openalex.org/W2161395589","https://openalex.org/W2177274602","https://openalex.org/W2989967279","https://openalex.org/W3197459106","https://openalex.org/W4246760065","https://openalex.org/W4294411035","https://openalex.org/W6748202546"],"related_works":["https://openalex.org/W2123582700","https://openalex.org/W2787963433","https://openalex.org/W2130596700","https://openalex.org/W1945377492","https://openalex.org/W4281254980","https://openalex.org/W2507513082","https://openalex.org/W2888834927","https://openalex.org/W1935426308","https://openalex.org/W2047787160","https://openalex.org/W1971360108"],"abstract_inverted_index":{"As":[0],"manufacturing":[1],"process":[2],"reconfiguration":[3],"increases":[4],"in":[5,111],"frequency":[6],"to":[7,27,63,116],"support":[8],"more":[9],"customized":[10],"products,":[11],"manual":[12],"programming":[13],"of":[14,55],"industrial":[15],"robots":[16],"has":[17],"become":[18],"less":[19],"feasible.":[20],"Although":[21],"sensor":[22],"feedback":[23,80],"can":[24,44],"be":[25,45],"used":[26],"handle":[28,75],"new":[29],"environments":[30],"and":[31,91],"tasks,":[32],"continuous":[33],"sensing":[34],"is":[35,83,105],"unnecessary":[36],"for":[37,59],"repetitive":[38],"tasks":[39],"if":[40],"a":[41,57,60,87,92],"safe":[42],"trajectory":[43],"learned":[46],"from":[47],"prior":[48],"executions.":[49],"This":[50],"paper":[51],"addresses":[52],"the":[53,102,112,117],"problem":[54],"developing":[56],"controller":[58,104],"mobile":[61,113],"manipulator":[62],"safely":[64],"reach":[65],"goals":[66],"without":[67],"collision":[68,99],"while":[69],"estimating":[70],"its":[71],"open-loop":[72,98],"safety.":[73],"To":[74],"novel":[76],"environments,":[77],"an":[78],"iterative":[79],"tuning":[81],"scheme":[82],"developed":[84],"based":[85],"on":[86],"fast":[88],"collision-checking":[89],"metric":[90],"carefully":[93],"selected":[94],"cost":[95],"function.":[96],"The":[97],"probability":[100],"with":[101],"tuned":[103],"explicitly":[106],"quantified":[107],"by":[108],"propagating":[109],"uncertainty":[110],"base":[114],"pose":[115],"sensed":[118],"environment.":[119]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
