{"id":"https://openalex.org/W7130539533","doi":"https://doi.org/10.48550/arxiv.2602.16358","title":"System Identification under Constraints and Disturbance: A Bayesian Estimation Approach","display_name":"System Identification under Constraints and Disturbance: A Bayesian Estimation Approach","publication_year":2026,"publication_date":"2026-02-18","ids":{"openalex":"https://openalex.org/W7130539533","doi":"https://doi.org/10.48550/arxiv.2602.16358"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.16358","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029711182","display_name":"Sergi Mart\u00ednez","orcid":"https://orcid.org/0000-0002-0208-264X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Martinez, Sergi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126418104","display_name":"Steve Tonneau","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tonneau, Steve","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5032652050","display_name":"Carlos Mastalli","orcid":"https://orcid.org/0000-0002-0725-4279"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mastalli, Carlos","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5029711182"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5138000249862671,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.5138000249862671,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.10350000113248825,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.08510000258684158,"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/control-theory","display_name":"Control theory (sociology)","score":0.5889000296592712},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5309000015258789},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.5048999786376953},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.4964999854564667},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.49639999866485596},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.46720001101493835},{"id":"https://openalex.org/keywords/recursion","display_name":"Recursion (computer science)","score":0.45680001378059387},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.42239999771118164},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4187999963760376},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4072999954223633}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5889000296592712},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5309000015258789},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5084999799728394},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.5048999786376953},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.4964999854564667},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.49639999866485596},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.46720001101493835},{"id":"https://openalex.org/C168773036","wikidata":"https://www.wikidata.org/wiki/Q264164","display_name":"Recursion (computer science)","level":2,"score":0.45680001378059387},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.42239999771118164},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4187999963760376},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4072999954223633},{"id":"https://openalex.org/C40343088","wikidata":"https://www.wikidata.org/wiki/Q3059012","display_name":"Recursive Bayesian estimation","level":3,"score":0.3847000002861023},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.3824000060558319},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.3797000050544739},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.36169999837875366},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34950000047683716},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3465000092983246},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.3330000042915344},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3271999955177307},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.31709998846054077},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31369999051094055},{"id":"https://openalex.org/C68022304","wikidata":"https://www.wikidata.org/wiki/Q842217","display_name":"Bayes estimator","level":3,"score":0.3127000033855438},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3125999867916107},{"id":"https://openalex.org/C207201462","wikidata":"https://www.wikidata.org/wiki/Q182505","display_name":"Bayes' theorem","level":3,"score":0.3091999888420105},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.30390000343322754},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.3003999888896942},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.2964000105857849},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.28769999742507935},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.28540000319480896},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27970001101493835},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2777000069618225},{"id":"https://openalex.org/C160234255","wikidata":"https://www.wikidata.org/wiki/Q812535","display_name":"Bayesian inference","level":3,"score":0.27320000529289246},{"id":"https://openalex.org/C163175372","wikidata":"https://www.wikidata.org/wiki/Q3339222","display_name":"Linear model","level":2,"score":0.2727999985218048},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.2711000144481659},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.2669000029563904},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2662000060081482},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.2599000036716461},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.2565000057220459},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2551000118255615}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.16358","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.16358","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.16358","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.16358","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.40936222672462463}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0],"introduce":[1],"a":[2,83,119,124],"Bayesian":[3],"system":[4],"identification":[5,145],"(SysID)":[6],"framework":[7],"for":[8],"jointly":[9],"estimating":[10],"robot's":[11],"state":[12],"trajectories":[13],"and":[14,27,30,53,58,66,103,132,136,143],"physical":[15],"parameters":[16],"with":[17,70,115,123],"high":[18],"accuracy.":[19],"It":[20,41],"embeds":[21],"physically":[22],"consistent":[23,63],"inverse":[24],"dynamics,":[25],"contact":[26,138],"loop-closure":[28],"constraints,":[29],"fully":[31],"featured":[32],"joint":[33],"friction":[34,76,133],"models":[35,156],"as":[36],"hard,":[37],"stage-wise":[38],"equality":[39,52],"constraints.":[40],"relies":[42],"on":[43,56,110,118],"energy-based":[44],"regressors":[45],"to":[46,73,141],"enhance":[47],"parameter":[48],"observability,":[49],"supports":[50],"both":[51],"inequality":[54],"priors":[55],"inertial":[57,131],"actuation":[59],"parameters,":[60],"enforces":[61],"dynamically":[62],"disturbance":[64],"projections,":[65],"augments":[67],"proprioceptive":[68],"measurements":[69],"energy":[71],"observations":[72],"disambiguate":[74],"nonlinear":[75],"effects.":[77],"To":[78],"ensure":[79],"scalability,":[80],"we":[81],"derive":[82],"parameterized":[84],"equality-constrained":[85],"Riccati":[86],"recursion":[87],"that":[88],"preserves":[89],"the":[90,94,100,154],"banded":[91],"structure":[92],"of":[93],"problem,":[95],"achieving":[96],"linear":[97],"complexity":[98],"in":[99,160],"time":[101],"horizon,":[102],"develop":[104],"computationally":[105],"efficient":[106],"derivatives.":[107],"Simulation":[108],"studies":[109],"representative":[111],"robotic":[112],"systems,":[113],"together":[114],"hardware":[116],"experiments":[117],"Unitree":[120],"B1":[121],"equipped":[122],"Z1":[125],"arm,":[126],"demonstrate":[127],"faster":[128],"convergence,":[129],"lower":[130],"estimation":[134],"errors,":[135],"improved":[137],"consistency":[139],"compared":[140],"forward-dynamics":[142],"decoupled":[144],"baselines.":[146],"When":[147],"deployed":[148],"within":[149],"model":[150],"predictive":[151],"control":[152],"frameworks,":[153],"resulting":[155],"yield":[157],"measurable":[158],"improvements":[159],"tracking":[161],"performance":[162],"during":[163],"locomotion":[164],"over":[165],"challenging":[166],"environments.":[167]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-02-20T00:00:00"}
