# On Koopman-based surrogate models for non-holonomic robots

arXiv: https://arxiv.org/abs/2303.09144 · HTML: https://mlsanity.com/paper/2303.09144/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Mar 2023.

## Built on by (most cited first, 1 of 1)

- [Data-Driven Predictive Control of Nonholonomic Robots Based on a Bilinear Koopman Realization: Data Does Not Replace Geometry](https://mlsanity.com/paper/2411.07192/) (2024)

## Abstract (arXiv)

Data-driven surrogate models of dynamical systems based on the extended dynamic mode decomposition are nowadays well-established and widespread in applications. Further, for non-holonomic systems exhibiting a multiplicative coupling between states and controls, the usage of bi-linear surrogate models has proven beneficial. However, an in-depth analysis of the approximation quality and its dependence on different hyperparameters based on both simulation and experimental data is still missing. We investigate a differential-drive mobile robot to close this gap and provide first guidelines on the systematic design of data-efficient surrogate models.