{"id":"https://openalex.org/W2968428478","doi":"https://doi.org/10.23919/ecc.2019.8796295","title":"Learning Probabilistic Models for Safe Predictive Control in Unknown Environments","display_name":"Learning Probabilistic Models for Safe Predictive Control in Unknown Environments","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2968428478","doi":"https://doi.org/10.23919/ecc.2019.8796295","mag":"2968428478"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2019.8796295","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2019.8796295","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 18th European Control Conference (ECC)","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/A5024977158","display_name":"Christopher D. McKinnon","orcid":"https://orcid.org/0000-0002-7165-1965"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Christopher D. McKinnon","raw_affiliation_strings":["Dynamic Systems Lab, University of Toronto Institute for Aerospace Studies (UTIAS), Canada"],"affiliations":[{"raw_affiliation_string":"Dynamic Systems Lab, University of Toronto Institute for Aerospace Studies (UTIAS), Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052147335","display_name":"Angela P. Schoellig","orcid":"https://orcid.org/0000-0003-4012-4668"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Angela P. Schoellig","raw_affiliation_strings":["Dynamic Systems Lab, University of Toronto Institute for Aerospace Studies (UTIAS), Canada"],"affiliations":[{"raw_affiliation_string":"Dynamic Systems Lab, University of Toronto Institute for Aerospace Studies (UTIAS), Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5024977158"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":1.9958,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.86783988,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2472","last_page":"2479"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9987000226974487,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9987000226974487,"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/T10876","display_name":"Fault Detection and Control Systems","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"}},{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9962999820709229,"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/probabilistic-logic","display_name":"Probabilistic logic","score":0.6832225918769836},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6759112477302551},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6751099824905396},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.6152436137199402},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5991746187210083},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5717719793319702},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5657681226730347},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.47548067569732666},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3614457845687866},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.2742744982242584}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6832225918769836},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6759112477302551},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6751099824905396},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.6152436137199402},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5991746187210083},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5717719793319702},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5657681226730347},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.47548067569732666},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3614457845687866},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.2742744982242584},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/ecc.2019.8796295","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2019.8796295","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 18th European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1503398984","https://openalex.org/W1606840679","https://openalex.org/W1746819321","https://openalex.org/W2006859604","https://openalex.org/W2007726556","https://openalex.org/W2007864935","https://openalex.org/W2042795879","https://openalex.org/W2053572490","https://openalex.org/W2079868754","https://openalex.org/W2139430868","https://openalex.org/W2161735924","https://openalex.org/W2396317032","https://openalex.org/W2411442487","https://openalex.org/W2539697279","https://openalex.org/W2560978298","https://openalex.org/W2735404888","https://openalex.org/W2771059967","https://openalex.org/W2803275621","https://openalex.org/W2897861898","https://openalex.org/W2910221532","https://openalex.org/W2963781688","https://openalex.org/W3105252106","https://openalex.org/W4211049957"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2060165215","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W2320869598","https://openalex.org/W2381210024","https://openalex.org/W2384015130","https://openalex.org/W2094121346","https://openalex.org/W4285595274"],"abstract_inverted_index":{"Researchers":[0],"rely":[1,54],"increasingly":[2],"on":[3,15,55,59,160],"tools":[4],"from":[5,163],"machine":[6],"learning":[7,51,106,140],"to":[8,22,62,79],"improve":[9],"the":[10,39,42,66,85,95,107,144],"performance":[11,69],"of":[12,27,32,41,70,84,97,118,135,146],"control":[13,52],"algorithms":[14,34],"real":[16],"world":[17],"tasks":[18],"and":[19,115],"enable":[20],"robots":[21],"operate":[23],"for":[24,38,49,77,92,105,139,171],"long":[25],"periods":[26],"time":[28],"without":[29],"intervention.":[30],"Many":[31],"these":[33],"require":[35],"a":[36,82,127,132,150,164],"model":[37,60,83,99],"dynamics":[40,109,142],"robot.":[43],"In":[44,122],"particular,":[45],"researchers":[46],"designing":[47],"methods":[48],"safe":[50],"often":[53],"an":[56],"upper":[57],"bound":[58],"error":[61],"make":[63],"guarantees":[64],"about":[65],"worst-case":[67],"closed-loop":[68],"their":[71],"algorithm.":[72],"There":[73],"are":[74,110],"different":[75],"options":[76],"how":[78],"learn":[80],"such":[81],"robot":[86,108,141,151,168],"dynamics.":[87],"We":[88,156],"study":[89,128],"probabilistic":[90],"models":[91],"use":[93],"in":[94,153],"context":[96],"stochastic":[98],"predictive":[100],"control.":[101],"Two":[102],"popular":[103],"choices":[104],"Gaussian":[111],"Process":[112],"(GP)":[113],"regression":[114,138],"various":[116],"forms":[117],"local":[119,136],"linear":[120,137],"regression.":[121],"this":[123],"paper,":[124],"we":[125],"present":[126],"comparing":[129],"GPs":[130],"with":[131,143],"particular":[133],"form":[134],"aim":[145],"guaranteeing":[147],"safety":[148],"when":[149],"operates":[152],"novel":[154],"conditions.":[155],"show":[157],"results":[158],"based":[159],"experimental":[161],"data":[162],"900":[165],"kg":[166],"ground":[167],"using":[169],"vision":[170],"localisation.":[172]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}