{"id":"https://openalex.org/W3151625394","doi":"https://doi.org/10.23919/ecc54610.2021.9655129","title":"Approximate Robust NMPC using Reinforcement Learning","display_name":"Approximate Robust NMPC using Reinforcement Learning","publication_year":2021,"publication_date":"2021-06-29","ids":{"openalex":"https://openalex.org/W3151625394","doi":"https://doi.org/10.23919/ecc54610.2021.9655129","mag":"3151625394"},"language":"en","primary_location":{"id":"doi:10.23919/ecc54610.2021.9655129","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc54610.2021.9655129","pdf_url":null,"source":{"id":"https://openalex.org/S4363608272","display_name":"2021 European Control Conference (ECC)","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":"2021 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2104.02743","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011634446","display_name":"Hossein Nejatbakhsh Esfahani","orcid":"https://orcid.org/0000-0003-3515-1645"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Hossein Nejatbakhsh Esfahani","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU), Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU), Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033874726","display_name":"Arash Bahari Kordabad","orcid":"https://orcid.org/0000-0001-8931-5372"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Arash Bahari Kordabad","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU), Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU), Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049645185","display_name":"S\u00e9bastien Gros","orcid":"https://orcid.org/0000-0001-6054-2133"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Sebastien Gros","raw_affiliation_strings":["Norwegian University of Science and Technology (NTNU), Trondheim, Norway","Norwegian University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology (NTNU), Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]},{"raw_affiliation_string":"Norwegian University of Science and Technology","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204778367"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03338716,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"132","last_page":"137"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9965000152587891,"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"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9876999855041504,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8261710405349731},{"id":"https://openalex.org/keywords/ellipsoid","display_name":"Ellipsoid","score":0.8224921822547913},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.733052670955658},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7096542119979858},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6963649988174438},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6808769702911377},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.544059157371521},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4809214770793915},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4688481092453003},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34527644515037537},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29586905241012573},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2494199275970459}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8261710405349731},{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.8224921822547913},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.733052670955658},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7096542119979858},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6963649988174438},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6808769702911377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.544059157371521},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4809214770793915},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4688481092453003},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34527644515037537},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29586905241012573},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2494199275970459},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.23919/ecc54610.2021.9655129","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc54610.2021.9655129","pdf_url":null,"source":{"id":"https://openalex.org/S4363608272","display_name":"2021 European Control Conference (ECC)","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":"2021 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2104.02743","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.02743","pdf_url":"https://arxiv.org/pdf/2104.02743","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3151625394","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2104.02743.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2104.02743","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2104.02743","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2104.02743","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.02743","pdf_url":"https://arxiv.org/pdf/2104.02743","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3151625394.pdf","grobid_xml":"https://content.openalex.org/works/W3151625394.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1981320111","https://openalex.org/W2028678875","https://openalex.org/W2066425650","https://openalex.org/W2121863487","https://openalex.org/W2150967358","https://openalex.org/W2563700852","https://openalex.org/W2565017975","https://openalex.org/W2586823359","https://openalex.org/W2626651832","https://openalex.org/W2803275621","https://openalex.org/W2810195925","https://openalex.org/W2892521964","https://openalex.org/W2930426397","https://openalex.org/W2967513726","https://openalex.org/W2968788589","https://openalex.org/W2988993739","https://openalex.org/W3012270184","https://openalex.org/W3136876223","https://openalex.org/W3139302403","https://openalex.org/W3153654730","https://openalex.org/W4211147054","https://openalex.org/W4237189218","https://openalex.org/W6681839825","https://openalex.org/W6752833377"],"related_works":["https://openalex.org/W2130500238","https://openalex.org/W2120821299","https://openalex.org/W3180738195","https://openalex.org/W2125758201","https://openalex.org/W2019999138","https://openalex.org/W1969661166","https://openalex.org/W2752199592","https://openalex.org/W1505432151","https://openalex.org/W3152859531","https://openalex.org/W2527690768","https://openalex.org/W1976754515","https://openalex.org/W2609306887","https://openalex.org/W2388658273","https://openalex.org/W2784003035","https://openalex.org/W1888350206","https://openalex.org/W3025308091","https://openalex.org/W2923300881","https://openalex.org/W3201895747","https://openalex.org/W2075439537","https://openalex.org/W2375880646"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,80,87],"Reinforcement":[3,47],"Learning-based":[4],"Robust":[5,25],"Nonlinear":[6,26],"Model":[7,27],"Predictive":[8,28],"Control":[9,29],"(RL-RNMPC)":[10],"framework":[11],"for":[12],"controlling":[13],"nonlinear":[14],"systems":[15],"in":[16,37,52],"the":[17,39,56,61,65,69,73],"presence":[18],"of":[19,31,64],"disturbances":[20],"and":[21,59],"uncertainties.":[22],"An":[23],"approximate":[24],"(RNMPC)":[30],"low":[32],"computational":[33],"complexity":[34],"is":[35,43,49,77],"used":[36,51],"which":[38],"state":[40],"trajectory":[41,89],"uncertainty":[42],"modelled":[44],"via":[45],"ellipsoids.":[46,74],"Learning":[48],"then":[50],"order":[53],"to":[54],"handle":[55],"ellipsoidal":[57],"approximation":[58],"improve":[60],"closed-loop":[62],"performance":[63],"scheme":[66],"by":[67],"adjusting":[68],"MPC":[70],"parameters":[71],"generating":[72],"The":[75],"approach":[76],"tested":[78],"on":[79],"simulated":[81],"Wheeled":[82],"Mobile":[83],"Robot":[84],"(WMR)":[85],"tracking":[86],"desired":[88],"while":[90],"avoiding":[91],"static":[92],"obstacles.":[93]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
