{"id":"https://openalex.org/W4367333173","doi":"https://doi.org/10.1109/access.2023.3271592","title":"Capturing a Differential Drive Robot With a Dubins Car","display_name":"Capturing a Differential Drive Robot With a Dubins Car","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4367333173","doi":"https://doi.org/10.1109/access.2023.3271592"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3271592","doi":"https://doi.org/10.1109/access.2023.3271592","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2023.3271592","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10110975.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","ki-jl-1","norway-1","oarl","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10110975.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023716481","display_name":"Ubaldo Ruiz","orcid":"https://orcid.org/0000-0001-6857-1115","observed_orcids":["https://orcid.org/0000-0001-6857-1115"]},"institutions":[{"id":"https://openalex.org/I64663401","display_name":"Centro de Investigaci\u00f3n Cient\u00edfica y de Educaci\u00f3n Superior de Ensenada","ror":"https://ror.org/04znhwb73","country_code":"MX","type":"facility","lineage":["https://openalex.org/I64663401"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Ubaldo Ruiz","raw_affiliation_strings":["Centro de Investigación Científica y de Educación Superior de Ensenada, Ensenada, Baja California, Mexico"],"raw_orcid":"https://orcid.org/0000-0001-6857-1115","affiliations":[{"raw_affiliation_string":"Centro de Investigación Científica y de Educación Superior de Ensenada, Ensenada, Baja California, Mexico","institution_ids":["https://openalex.org/I64663401"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5023716481"],"corresponding_institution_ids":["https://openalex.org/I64663401"],"apc_list":{"value":1950,"currency":"USD","value_usd":1950},"apc_paid":{"value":1950,"currency":"USD","value_usd":1950},"fwci":0.4488,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.53672147,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":95},"biblio":{"volume":"11","issue":null,"first_page":"42124","last_page":"42134"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T12158","display_name":"Guidance and Control Systems","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.0019000000320374966,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0015999999595806003,"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/pursuit-evasion-games","display_name":"pursuit-evasion games","score":0.8370000123977661},{"id":"https://openalex.org/keywords/differential-drive-robot","display_name":"differential drive robot","score":0.9589999914169312},{"id":"https://openalex.org/keywords/dubins-vehicle","display_name":"Dubins car","score":0.9990000128746033},{"id":"https://openalex.org/keywords/zero-sum-differential-games","display_name":"zero-sum differential games","score":0.9399999976158142},{"id":"https://openalex.org/keywords/surface-singularities","display_name":"singular surfaces","score":0.8109999895095825},{"id":"https://openalex.org/keywords/transition-surfaces","display_name":"transition surfaces","score":0.8140000104904175}],"concepts":[{"id":"https://openalex.org/C2776927521","wikidata":"https://www.wikidata.org/wiki/Q468489","display_name":"Pursuer","level":2,"score":0.9635422825813293},{"id":"https://openalex.org/C2779006483","wikidata":"https://www.wikidata.org/wiki/Q1973196","display_name":"Differential game","level":2,"score":0.8220731019973755},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5630605220794678},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.541957437992096},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5161319971084595},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4849946200847626},{"id":"https://openalex.org/C2778388243","wikidata":"https://www.wikidata.org/wiki/Q7261573","display_name":"Pursuit-evasion","level":2,"score":0.4579043388366699},{"id":"https://openalex.org/C138328387","wikidata":"https://www.wikidata.org/wiki/Q5419308","display_name":"Example of a game without a value","level":5,"score":0.45338332653045654},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4405830204486847},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4219321012496948},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41396546363830566},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40642249584198},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.40136581659317017},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.30045264959335327},{"id":"https://openalex.org/C73795354","wikidata":"https://www.wikidata.org/wiki/Q287618","display_name":"Sequential game","level":3,"score":0.2931993007659912},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19489923119544983},{"id":"https://openalex.org/C102234262","wikidata":"https://www.wikidata.org/wiki/Q1320931","display_name":"Combinatorial game theory","level":4,"score":0.1791217029094696},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14079421758651733},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.13411393761634827},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12319380044937134},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.10552558302879333},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09539210796356201},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07562130689620972}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3271592","doi":"https://doi.org/10.1109/access.2023.3271592","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2023.3271592","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10110975.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","ki-jl-1","norway-1","oarl","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:696dddb013884af6a50decf2e4e3db8a","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/696dddb013884af6a50decf2e4e3db8a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 11, Pp 42124-42134 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3271592","doi":"https://doi.org/10.1109/access.2023.3271592","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2023.3271592","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10005208/10110975.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","ki-jl-1","norway-1","oarl","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G534603199","display_name":null,"funder_award_id":"A1-S-21934","funder_id":"https://openalex.org/F4320321739","funder_display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda"},{"id":"https://openalex.org/G6308588022","display_name":null,"funder_award_id":"A1-S-21934","funder_id":"https://openalex.org/F4320324348","funder_display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda, Guatemala"},{"id":"https://openalex.org/G6958583472","display_name":null,"funder_award_id":"A1-S-","funder_id":"https://openalex.org/F4320321739","funder_display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda"}],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"},{"id":"https://openalex.org/F4320324348","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda, Guatemala","ror":"https://ror.org/03pr08s76"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4367333173.pdf","grobid_xml":"https://content.openalex.org/works/W4367333173.grobid-xml"},"referenced_works_count":14,"referenced_works":["https://openalex.org/W606428098","https://openalex.org/W1578630563","https://openalex.org/W1964996923","https://openalex.org/W2055014394","https://openalex.org/W2072171694","https://openalex.org/W2153311789","https://openalex.org/W2269227214","https://openalex.org/W2334591577","https://openalex.org/W2729444920","https://openalex.org/W2997172468","https://openalex.org/W3011621039","https://openalex.org/W3115584463","https://openalex.org/W4289792626","https://openalex.org/W4313648876"],"related_works":["https://openalex.org/W4289792626","https://openalex.org/W3011621039","https://openalex.org/W4400309520","https://openalex.org/W4407093103","https://openalex.org/W2269227214","https://openalex.org/W4406852261","https://openalex.org/W2072171694","https://openalex.org/W4313648876","https://openalex.org/W4389262578","https://openalex.org/W4414535390"],"abstract_inverted_index":{"This":[0],"work":[1],"addresses":[2],"the":[3,23,37,42,45,48,52,68,86,104,114,117,123,128,134,140,168],"pursuit-evasion":[4],"problem":[5,24],"of":[6,41,47,54,82,127],"capturing":[7],"a":[8,14,26,63,74,109,147,156,164],"Differential":[9],"Drive":[10],"Robot":[11],"(DDR)":[12],"with":[13],"Dubins":[15,165],"Car":[16,166],"(DC)":[17],"in":[18,133,139],"minimum":[19],"time.":[20],"We":[21,50],"model":[22],"as":[25,155,159],"zero-sum":[27],"differential":[28,32],"game,":[29],"and":[30,73,108,136],"using":[31],"game":[33],"theory,":[34],"we":[35,98,143],"compute":[36,95],"time-optimal":[38],"motion":[39,83,125],"strategies":[40,84],"players":[43,87,102],"near":[44],"end":[46],"game.":[49],"unveil":[51],"existence":[53],"three":[55],"singular":[56,92],"surfaces:":[57],"an":[58,150,160],"Evader\u2019s":[59],"Dispersal":[60],"Surface":[61,65,77],"(EDS),":[62],"Transition":[64],"(TS),":[66],"where":[67],"DDR":[69,148],"switches":[70],"its":[71],"controls,":[72],"Pursuer\u2019s":[75],"Universal":[76],"(PUS).":[78],"A":[79],"particular":[80,124],"set":[81],"for":[85],"is":[88],"used":[89],"at":[90],"each":[91],"surface.":[93],"To":[94],"our":[96],"solution,":[97],"assume":[99],"that":[100,146],"both":[101],"have":[103],"same":[105,169],"maximum":[106],"speed":[107],"bounded":[110],"turning":[111],"ratio.":[112],"Considering":[113],"previous":[115,131],"setting,":[116],"game\u2019s":[118],"outcome":[119],"only":[120],"depends":[121],"on":[122],"capabilities":[126],"players.":[129],"From":[130],"results":[132],"literature":[135],"those":[137],"presented":[138],"current":[141],"paper,":[142],"can":[144],"establish":[145],"has":[149],"advantage":[151],"when":[152],"it":[153],"plays":[154],"pursuer":[157],"or":[158],"evader":[161],"compared":[162],"to":[163],"performing":[167],"role.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2023-04-30T00:00:00"}