{"id":"https://openalex.org/W4402262333","doi":"https://doi.org/10.23919/acc60939.2024.10644840","title":"LP-Planning: Linear Control-Based Planning Using Probability Mass Function Measurements","display_name":"LP-Planning: Linear Control-Based Planning Using Probability Mass Function Measurements","publication_year":2024,"publication_date":"2024-07-10","ids":{"openalex":"https://openalex.org/W4402262333","doi":"https://doi.org/10.23919/acc60939.2024.10644840"},"language":"en","primary_location":{"id":"doi:10.23919/acc60939.2024.10644840","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc60939.2024.10644840","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5068483720","display_name":"Mehdi Kermanshah","orcid":"https://orcid.org/0009-0008-8789-5367"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mehdi Kermanshah","raw_affiliation_strings":["Boston University,Department of Mechanical Engineering,MA,United States,02215"],"affiliations":[{"raw_affiliation_string":"Boston University,Department of Mechanical Engineering,MA,United States,02215","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086742095","display_name":"C\u0103lin Belta","orcid":"https://orcid.org/0000-0002-7141-2657"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Calin Belta","raw_affiliation_strings":["Boston University,Department of Mechanical Engineering,MA,United States,02215"],"affiliations":[{"raw_affiliation_string":"Boston University,Department of Mechanical Engineering,MA,United States,02215","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031884953","display_name":"Roberto Tron","orcid":"https://orcid.org/0000-0002-6676-8595"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roberto Tron","raw_affiliation_strings":["Boston University,Department of Mechanical Engineering,MA,United States,02215"],"affiliations":[{"raw_affiliation_string":"Boston University,Department of Mechanical Engineering,MA,United States,02215","institution_ids":["https://openalex.org/I111088046"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5068483720"],"corresponding_institution_ids":["https://openalex.org/I111088046"],"apc_list":null,"apc_paid":null,"fwci":0.5248,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.65446167,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4126","last_page":"4132"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9912999868392944,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/function","display_name":"Function (biology)","score":0.5265272855758667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4968462288379669},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47237685322761536},{"id":"https://openalex.org/keywords/probability-density-function","display_name":"Probability density function","score":0.4275365471839905},{"id":"https://openalex.org/keywords/probability-mass-function","display_name":"Probability mass function","score":0.41782233119010925},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3231823146343231},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22848856449127197},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.16500267386436462},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14276674389839172}],"concepts":[{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5265272855758667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4968462288379669},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47237685322761536},{"id":"https://openalex.org/C197055811","wikidata":"https://www.wikidata.org/wiki/Q207522","display_name":"Probability density function","level":2,"score":0.4275365471839905},{"id":"https://openalex.org/C197096303","wikidata":"https://www.wikidata.org/wiki/Q869887","display_name":"Probability mass function","level":3,"score":0.41782233119010925},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3231823146343231},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22848856449127197},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.16500267386436462},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14276674389839172},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc60939.2024.10644840","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc60939.2024.10644840","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1891170951","https://openalex.org/W1966397236","https://openalex.org/W1971086298","https://openalex.org/W1980569135","https://openalex.org/W2040871222","https://openalex.org/W2050883740","https://openalex.org/W2098613108","https://openalex.org/W2105934661","https://openalex.org/W2121863487","https://openalex.org/W2128990851","https://openalex.org/W2133233905","https://openalex.org/W2169528473","https://openalex.org/W2342840547","https://openalex.org/W2467954037","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2765982206","https://openalex.org/W2887154784","https://openalex.org/W2964157221","https://openalex.org/W2972970124","https://openalex.org/W3046160353","https://openalex.org/W3104753760","https://openalex.org/W3184433571","https://openalex.org/W3184816927","https://openalex.org/W3186308521","https://openalex.org/W3195647294","https://openalex.org/W3202614319","https://openalex.org/W3203187467","https://openalex.org/W4205660069","https://openalex.org/W4232464081","https://openalex.org/W4285282961","https://openalex.org/W4376623856","https://openalex.org/W4403083114","https://openalex.org/W6679847170","https://openalex.org/W6704559304","https://openalex.org/W6784988358","https://openalex.org/W6872688618"],"related_works":["https://openalex.org/W2883907152","https://openalex.org/W1526257359","https://openalex.org/W4249885815","https://openalex.org/W1534282248","https://openalex.org/W2373670823","https://openalex.org/W1987402956","https://openalex.org/W4253991054","https://openalex.org/W2753355162","https://openalex.org/W1976375974","https://openalex.org/W1994464114"],"abstract_inverted_index":{"We":[0,55],"propose":[1],"an":[2,57,143],"approach":[3,109],"to":[4,71,94,131],"synthesize":[5],"linear":[6,10,83,96],"feedback":[7],"controllers":[8,133],"for":[9,26,44,146],"systems":[11],"in":[12,28,47],"polygonal":[13],"environments.":[14],"Our":[15],"method":[16,127],"focuses":[17],"on":[18,142],"designing":[19],"a":[20,35,73,95,105,118],"robust":[21,87],"controller":[22],"that":[23,38,98],"can":[24,99],"account":[25],"uncertainty":[27],"measurements.":[29],"Its":[30],"inputs":[31],"are":[32],"provided":[33],"by":[34],"perception":[36],"module":[37],"generates":[39],"probability":[40],"mass":[41],"functions":[42],"(PMFs)":[43],"predefined":[45],"landmarks":[46],"the":[48,79,91,129],"environment,":[49],"such":[50],"as":[51],"distinguishable":[52],"geometric":[53],"features.":[54],"formulate":[56],"optimization":[58,92],"problem":[59,93],"with":[60],"Control":[61,66],"Lyapunov":[62],"Function":[63,68],"(CLF)":[64],"and":[65,75,86,114],"Barrier":[67],"(CBF)":[69],"constraints":[70],"derive":[72],"stable":[74],"safe":[76],"controller.":[77],"Using":[78],"strong":[80],"duality":[81],"of":[82,125,135],"programs":[84],"(LPs)":[85],"optimization,":[88],"we":[89],"convert":[90],"program":[97],"be":[100],"efficiently":[101],"solved":[102],"offline.":[103],"At":[104],"high":[106],"level,":[107],"our":[108,126],"partially":[110],"combines":[111],"perception,":[112],"planning,":[113],"real-time":[115],"control":[116,147],"into":[117],"single":[119],"design":[120],"problem.":[121],"An":[122],"additional":[123],"advantage":[124],"is":[128],"ability":[130],"produce":[132],"capable":[134],"exhibiting":[136],"nonlinear":[137],"behavior":[138],"while":[139],"relying":[140],"solely":[141],"offline":[144],"LP":[145],"synthesis.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
