{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,11,10]],"date-time":"2026-11-10T21:00:35Z","timestamp":1794344435606,"version":"4.9.0"},"reference-count":65,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T00:00:00Z","timestamp":1648771200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T00:00:00Z","timestamp":1648771200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T00:00:00Z","timestamp":1648771200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Creative-Pioneering Researchers Program"},{"DOI":"10.13039\/501100002551","name":"Seoul National University","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100002551","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Information and Communications Technology Planning and Evaluation","award":["2020-0-00857"],"award-info":[{"award-number":["2020-0-00857"]}]},{"name":"Ministry of Science and ICT"},{"DOI":"10.13039\/501100003725","name":"National Research Foundation of Korea","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100003725","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Basic Research Lab Program","award":["2021R1A4A2001824"],"award-info":[{"award-number":["2021R1A4A2001824"]}]},{"DOI":"10.13039\/501100014188","name":"Ministry of Science and ICT, South Korea","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100014188","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100004358","name":"Samsung","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100004358","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2022,4]]},"DOI":"10.1109\/tro.2021.3106827","type":"journal-article","created":{"date-parts":[[2021,9,24]],"date-time":"2021-09-24T20:29:06Z","timestamp":1632515346000},"page":"939-957","source":"Crossref","is-referenced-by-count":54,"title":["Wasserstein Distributionally Robust Motion Control for Collision Avoidance Using Conditional Value-at-Risk"],"prefix":"10.1109","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8252-1966","authenticated-orcid":false,"given":"Astghik","family":"Hakobyan","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering, Automation and Systems Research Institute, Seoul National University, Seoul, South Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5887-6169","authenticated-orcid":false,"given":"Insoon","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, Automation and Systems Research Institute, Seoul National University, Seoul, South Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341415"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196857"},{"key":"ref33","doi-asserted-by":"crossref","first-page":"115","DOI":"10.1007\/s10107-017-1172-1","article-title":"Data-driven distributionally robust optimization using the Wasserstein metric: Performance guarantees and tractable reformulations","volume":"171","author":"p","year":"2018","journal-title":"Math Program"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1287\/opre.2014.1314"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1287\/opre.1090.0741"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1007\/s10957-006-9084-x"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1287\/educ.2015.0134"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1287\/mnsc.1120.1641"},{"key":"ref35","article-title":"Distributionally robust stochastic optimization with Wasserstein distance","author":"gao","year":"2016"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1016\/j.orl.2018.01.011"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1080\/01621459.1975.10479865"},{"key":"ref62","first-page":"1","article-title":"An introduction to the bootstrap","volume":"57","author":"tibshirani","year":"1993","journal-title":"Monographs on Statistics and Applied Probability 43"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1111\/j.2517-6161.1974.tb00994.x"},{"key":"ref63","author":"rajamani","year":"2011","journal-title":"Vehicle Dynamics and Control"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1111\/1467-9965.00068"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/S0378-4266(02)00271-6"},{"key":"ref65","first-page":"52","article-title":"On a space of completely additive functions","volume":"13","author":"kantorovich","year":"1958","journal-title":"Vestnik Leningrad Univ"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611973433"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2019.05.003"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/100.580977"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2166435"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1137\/140958736"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2044948"},{"key":"ref24","first-page":"75","author":"majumdar","year":"0","journal-title":"Proc Int Symp Robot Res"},{"key":"ref23","first-page":"1522","article-title":"Risk-sensitive and robust decision-making: A CVaR optimization approach","author":"chow","year":"0","journal-title":"Proc Int Conf Neural Inf Process"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2929980"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2018.2874704"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/LCSYS.2017.2711553"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2018.04.022"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4614-7138-7"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2020.3030884"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1007\/s00440-014-0583-7"},{"key":"ref56","article-title":"On the optimal design of continuous processes","author":"smith","year":"1997"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1007\/BF01580665"},{"key":"ref54","author":"liberti","year":"2008","journal-title":"Introduction to Global Optimization"},{"key":"ref53","author":"nocedal","year":"2006","journal-title":"Numerical Optimization"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1137\/18M1210514"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/70.954761"},{"key":"ref11","article-title":"Uncertainty-aware reinforcement learning for collision avoidance","author":"kahn","year":"2017"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631230"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793611"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.apor.2019.02.020"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2017.2707076"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594266"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.2514\/6.2010-8160"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980508"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593893"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2161160"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545549"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1163\/1568553042674662"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041458"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s42979-020-00185-0"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2793890"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2020.103569"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1287\/moor.1120.0540"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.5772\/54427"},{"key":"ref46","volume":"58","author":"villani","year":"2003","journal-title":"Topics in Optimal Transportation"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2018.8430957"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/CDC40024.2019.9028943"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2019.8814677"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363554"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1023\/B:JINT.0000034339.13257.e6"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2010.5717430"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911406761"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/9749165\/09547384.pdf?arnumber=9547384","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,23]],"date-time":"2022-05-23T20:39:05Z","timestamp":1653338345000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9547384\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,4]]},"references-count":65,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/tro.2021.3106827","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,4]]}}}