{"id":"https://openalex.org/W4385451849","doi":"https://doi.org/10.23919/ecc57647.2023.10178349","title":"Efficient Nonlinear Model Predictive Path Integral Control for Stochastic Systems considering Input Constraints","display_name":"Efficient Nonlinear Model Predictive Path Integral Control for Stochastic Systems considering Input Constraints","publication_year":2023,"publication_date":"2023-06-13","ids":{"openalex":"https://openalex.org/W4385451849","doi":"https://doi.org/10.23919/ecc57647.2023.10178349"},"language":"en","primary_location":{"id":"doi:10.23919/ecc57647.2023.10178349","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc57647.2023.10178349","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5077735653","display_name":"Hannes Homburger","orcid":"https://orcid.org/0000-0002-4002-3448"},"institutions":[{"id":"https://openalex.org/I9649716","display_name":"HTWG Hochschule Konstanz - Technik, Wirtschaft und Gestaltung","ror":"https://ror.org/051qw9f78","country_code":"DE","type":"education","lineage":["https://openalex.org/I9649716"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hannes Homburger","raw_affiliation_strings":["Institute of System Dynamics, HTWG Konstanz - University of Applied Sciences,Konstanz,Germany,78462"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of System Dynamics, HTWG Konstanz - University of Applied Sciences,Konstanz,Germany,78462","institution_ids":["https://openalex.org/I9649716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076350822","display_name":"Stefan Wirtensohn","orcid":"https://orcid.org/0000-0002-7430-3835"},"institutions":[{"id":"https://openalex.org/I9649716","display_name":"HTWG Hochschule Konstanz - Technik, Wirtschaft und Gestaltung","ror":"https://ror.org/051qw9f78","country_code":"DE","type":"education","lineage":["https://openalex.org/I9649716"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Wirtensohn","raw_affiliation_strings":["Institute of System Dynamics, HTWG Konstanz - University of Applied Sciences,Konstanz,Germany,78462"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of System Dynamics, HTWG Konstanz - University of Applied Sciences,Konstanz,Germany,78462","institution_ids":["https://openalex.org/I9649716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084137752","display_name":"Johannes Reuter","orcid":"https://orcid.org/0000-0003-2069-5682"},"institutions":[{"id":"https://openalex.org/I9649716","display_name":"HTWG Hochschule Konstanz - Technik, Wirtschaft und Gestaltung","ror":"https://ror.org/051qw9f78","country_code":"DE","type":"education","lineage":["https://openalex.org/I9649716"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johannes Reuter","raw_affiliation_strings":["Institute of System Dynamics, HTWG Konstanz - University of Applied Sciences,Konstanz,Germany,78462"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of System Dynamics, HTWG Konstanz - University of Applied Sciences,Konstanz,Germany,78462","institution_ids":["https://openalex.org/I9649716"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1721,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.45128415,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9912999868392944,"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/T10932","display_name":"Microbial Metabolic Engineering and Bioproduction","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6650537252426147},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6567782163619995},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5616294741630554},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5411078929901123},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5375143885612488},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5366026759147644},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5346445441246033},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.5264191031455994},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5051577687263489},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4942369759082794},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.4441326856613159},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.4141808748245239},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32760655879974365},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31135469675064087},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09772801399230957}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6650537252426147},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6567782163619995},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5616294741630554},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5411078929901123},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5375143885612488},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5366026759147644},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5346445441246033},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.5264191031455994},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5051577687263489},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4942369759082794},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.4441326856613159},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.4141808748245239},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32760655879974365},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31135469675064087},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09772801399230957},{"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc57647.2023.10178349","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc57647.2023.10178349","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.uni-konstanz.de-htwg:5023","is_oa":false,"landing_page_url":"https://opus.htwg-konstanz.de/frontdoor/index/index/docId/5023","pdf_url":null,"source":{"id":"https://openalex.org/S4306400170","display_name":"URN-Resolver at the German National Library (German National Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2802635041","host_organization_name":"Technische Informationsbibliothek (TIB)","host_organization_lineage":["https://openalex.org/I2802635041"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conferenceobject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1752690783","https://openalex.org/W1975711585","https://openalex.org/W2023095801","https://openalex.org/W2026659355","https://openalex.org/W2167697140","https://openalex.org/W2963238245","https://openalex.org/W2968098989","https://openalex.org/W2980619877","https://openalex.org/W3005581722","https://openalex.org/W3207619101","https://openalex.org/W4226176749","https://openalex.org/W4292070611","https://openalex.org/W4312545292","https://openalex.org/W6640290305","https://openalex.org/W6684496152"],"related_works":["https://openalex.org/W2366352762","https://openalex.org/W2613964090","https://openalex.org/W2081322886","https://openalex.org/W2380425739","https://openalex.org/W2349324463","https://openalex.org/W1988313539","https://openalex.org/W2027541371","https://openalex.org/W2380535488","https://openalex.org/W2371144154","https://openalex.org/W1928809325"],"abstract_inverted_index":{"This":[0,82,143],"paper":[1,144],"compares":[2],"novel":[3,114],"methods":[4],"to":[5,59,78,157],"efficiently":[6],"include":[7],"input":[8,71,105,124,159],"constraints":[9,101],"using":[10,67],"the":[11,36,46,57,70,74,103,146,150,164],"nonlinear":[12,93],"Model":[13],"Predictive":[14],"Path":[15],"Integral":[16],"(MPPI)":[17],"approach.":[18],"The":[19,122],"MPPI":[20,33,69,126,151],"algorithm":[21,152],"solves":[22],"stochastic":[23],"optimal":[24],"control":[25,96,104],"problems":[26],"and":[27,55,63,138],"is":[28,84],"based":[29,116],"on":[30,102,117,130],"sampled":[31],"trajectories.":[32],"results":[34],"from":[35],"physical":[37],"path":[38],"integral":[39],"framework.":[40],"Sample-based":[41],"algorithms":[42],"are":[43,120,141,167],"characterized":[44],"by":[45],"fact":[47,83],"that":[48],"they":[49],"can":[50,107,153],"be":[51,79,108,154],"computed":[52],"in":[53,73,91],"parallel":[54],"offer":[56],"possibility":[58],"handle":[60],"discontinuous":[61],"dynamics":[62],"cost":[64],"functions.":[65],"However,":[66],"standard":[68,92],"costs":[72],"Lagrange":[75],"term":[76],"have":[77],"chosen":[80],"quadratic.":[81],"unfavorable":[85],"for":[86],"various":[87],"real":[88],"applications.":[89],"Further,":[90],"model":[94],"predictive":[95],"(NMPC)":[97],"approaches":[98],"hard":[99],"box":[100,160],"trajectory":[106],"treated":[109],"directly.":[110],"In":[111],"this":[112],"contribution,":[113],"architectures":[115],"integrator":[118],"action":[119],"compared.":[121],"investigated":[123],"constraint":[125],"controllers":[127],"were":[128],"tested":[129],"an":[131],"autonomous":[132],"self-balancing":[133,165],"vehicle.":[134],"Therefore":[135],"both,":[136],"simulation":[137],"real-world":[139],"experiments":[140],"presented.":[142],"addresses":[145],"question":[147],"of":[148,163],"how":[149],"further":[155],"developed":[156],"consider":[158],"constraints.":[161],"Videos":[162],"vehicle":[166],"available":[168],"at:":[169],"https:":[170],"https://tinyurl.com/mvn8j7vf":[171]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
