{"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":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0001709865,0.0002055399,0.0002430989,0.00008090646,0.0002045523,0.000100592,0.0001013341,0.00008983121,0.00005745305],"category_scores_gemma":[0.00001394408,0.0001655717,0.0001122713,0.0001098319,0.00008722897,0.0001122968,0.000008859436,0.0001656198,0.00003018076],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00002223958,"about_ca_system_score_gemma":0.00002672531,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000001641045,"about_ca_topic_score_gemma":0.00001614929,"domain_scores_codex":[0.9991598,0.0000321758,0.0001922534,0.0002824383,0.00007950222,0.000253889],"domain_scores_gemma":[0.9988528,0.0007010261,0.00001949506,0.0002362709,0.00006036481,0.0001300589],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"theoretical_or_conceptual","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0007371511,0.0001070993,0.00008349517,0.0002404636,0.001274233,0.000004728737,0.0001746996,0.1923798,0.01741104,0.6981492,0.000770464,0.08866759],"study_design_scores_gemma":[0.004306893,0.00015384,0.0003470358,0.0000579249,0.0006861146,0.00002080285,0.00008503492,0.9062812,0.00005875222,0.03149216,0.05606264,0.0004475437],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.002626502,0.001607018,0.9920079,0.0002872272,0.0001561415,0.001351622,0.000598158,0.0005009515,0.0008644611],"genre_scores_gemma":[0.9943174,0.00004519043,0.0002820519,0.0001110277,0.0005313139,0.003803253,0.00005223842,0.00004958494,0.0008079],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.9917259,"threshold_uncertainty_score":0.6751819,"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."}}