{"id":"W4401734640","doi":"10.1049/cth2.12709","title":"A linear MPC with control barrier functions for differential drive robots","year":2024,"lang":"en","type":"article","venue":"IET Control Theory and Applications","topic":"Control and Dynamics of Mobile Robots","field":"Engineering","cited_by":10,"is_retracted":false,"has_abstract":true,"ca_institutions":"Carleton University","funders":"Natural Sciences and Engineering Research Council of Canada","keywords":"Model predictive control; Control theory (sociology); Computer science; Robot; Control engineering; Robustness (evolution); Feedback linearization; Linearization; Controller (irrigation); Nonlinear system; Engineering; Control (management); Artificial intelligence","routes":{"ca_aff":true,"ca_fund":true,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0003283773,0.0006189393,0.000480476,0.0002544427,0.0003020565,0.0006327354,0.0005723374,0.000496932,0.001483133],"category_scores_gemma":[0.0005797104,0.0002541537,0.0003113648,0.0002029001,0.0004874848,0.0003199403,0.0007015407,0.0006995905,0.0002075377],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0004332654,"about_ca_system_score_gemma":0.0006590441,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.003688773,"about_ca_topic_score_gemma":0.001721938,"domain_scores_codex":[0.9998274,0.00003564341,0.000006015445,0.0000360318,0.00006747682,0.0000275188],"domain_scores_gemma":[0.9997643,0.00009774217,0.00004427373,0.00001846903,0.00006080536,0.00001457338],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.00008901959,0.00005098527,0.0003036723,0.0001900034,0.00002121717,0.0001788762,0.00007604009,0.9555566,0.01269815,0.01013574,0.0006149925,0.02008476],"study_design_scores_gemma":[0.000007301037,0.00005202495,0.00005728254,0.000004401332,0.000002078935,0.000008283983,0.000003413537,0.9980636,0.0009831603,0.0003842496,0.0004319002,0.000002379881],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.04519613,0.0003228131,0.9467612,0.0001902289,0.00006702141,0.00005194357,0.00003689264,0.0004645412,0.006909228],"genre_scores_gemma":[0.9763193,0.00009202457,0.02113147,0.00003951335,0.00001124216,0.00006462295,0.00003140665,0.00001586524,0.002294403],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.003688773,"threshold_uncertainty_score":0.00733465,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.002578466923034039,"score_gpt":0.1972325688118785,"score_spread":0.1946541018888444,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}