{"id":"https://openalex.org/W2159720746","doi":"https://doi.org/10.1007/s10514-005-9717-9","title":"A kinematically compatible framework for cooperative payload transport by nonholonomic mobile manipulators","display_name":"A kinematically compatible framework for cooperative payload transport by nonholonomic mobile manipulators","publication_year":2006,"publication_date":"2006-09-05","ids":{"openalex":"https://openalex.org/W2159720746","doi":"https://doi.org/10.1007/s10514-005-9717-9","mag":"2159720746"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-005-9717-9","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-005-9717-9","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010623326","display_name":"Michel Abou-Samah","orcid":null},"institutions":[{"id":"https://openalex.org/I4210160896","display_name":"Metric Systems Corporation (United States)","ror":"https://ror.org/05twhx581","country_code":"US","type":"company","lineage":["https://openalex.org/I4210160896"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Abou-Samah","raw_affiliation_strings":["MSC Software Corporation, Ann Arbor, MI, 48105, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MSC Software Corporation, Ann Arbor, MI, 48105, USA","institution_ids":["https://openalex.org/I4210160896"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067067387","display_name":"Chin Pei Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. P. Tang","raw_affiliation_strings":["Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY, 14260, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY, 14260, USA","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110245621","display_name":"Rajankumar Bhatt","orcid":null},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. M. Bhatt","raw_affiliation_strings":["Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY, 14260, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY, 14260, USA","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049231295","display_name":"Venkat Krovi","orcid":"https://orcid.org/0000-0003-2539-896X"},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"V. Krovi","raw_affiliation_strings":["Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY, 14260, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY, 14260, USA","institution_ids":["https://openalex.org/I63190737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5049231295"],"corresponding_institution_ids":["https://openalex.org/I63190737"],"apc_list":{"value":3390,"currency":"USD","value_usd":3390},"apc_paid":null,"fwci":8.6723,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.97116509,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"21","issue":"3","first_page":"227","last_page":"242"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/payload","display_name":"Payload (computing)","score":0.7481210827827454},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.721147894859314},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7084490060806274},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.7051163911819458},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6502063274383545},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6258366107940674},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5987370610237122},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5941670536994934},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.5803754925727844},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5688499808311462},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.531514048576355},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.4645417034626007},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3772677183151245},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2953486144542694},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2539833188056946},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12067803740501404},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11032503843307495}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7481210827827454},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.721147894859314},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7084490060806274},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.7051163911819458},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6502063274383545},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6258366107940674},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5987370610237122},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5941670536994934},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.5803754925727844},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5688499808311462},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.531514048576355},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.4645417034626007},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3772677183151245},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2953486144542694},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2539833188056946},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12067803740501404},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11032503843307495},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10514-005-9717-9","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-005-9717-9","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W22545347","https://openalex.org/W101508493","https://openalex.org/W1498792794","https://openalex.org/W1510918013","https://openalex.org/W1521484545","https://openalex.org/W1528558355","https://openalex.org/W1536641039","https://openalex.org/W1573376273","https://openalex.org/W1596951786","https://openalex.org/W1602614133","https://openalex.org/W1910747012","https://openalex.org/W1966047438","https://openalex.org/W1974489012","https://openalex.org/W2016582216","https://openalex.org/W2051155494","https://openalex.org/W2097310740","https://openalex.org/W2100790457","https://openalex.org/W2117321644","https://openalex.org/W2118214815","https://openalex.org/W2122900185","https://openalex.org/W2133361850","https://openalex.org/W2134384253","https://openalex.org/W2137082592","https://openalex.org/W2139605994","https://openalex.org/W2147366275","https://openalex.org/W2149012351","https://openalex.org/W2160113664","https://openalex.org/W2162875277","https://openalex.org/W2320392401","https://openalex.org/W2492569580","https://openalex.org/W2498639309","https://openalex.org/W2565210018","https://openalex.org/W4242811155","https://openalex.org/W4251794413","https://openalex.org/W4285719527","https://openalex.org/W7057349940"],"related_works":["https://openalex.org/W2042038080","https://openalex.org/W2107308837","https://openalex.org/W2154502479","https://openalex.org/W2032711426","https://openalex.org/W360452402","https://openalex.org/W4378942199","https://openalex.org/W71119328","https://openalex.org/W4249701897","https://openalex.org/W2147558862","https://openalex.org/W145109879"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
