{"id":"https://openalex.org/W2797035688","doi":"https://doi.org/10.1007/s10514-018-9729-2","title":"Attractor dynamics approach to joint transportation by autonomous robots: theory, implementation and validation on the factory floor","display_name":"Attractor dynamics approach to joint transportation by autonomous robots: theory, implementation and validation on the factory floor","publication_year":2018,"publication_date":"2018-04-12","ids":{"openalex":"https://openalex.org/W2797035688","doi":"https://doi.org/10.1007/s10514-018-9729-2","mag":"2797035688"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-018-9729-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-018-9729-2","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":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1822/69728","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101891492","display_name":"Toni Machado","orcid":"https://orcid.org/0000-0002-8286-3496"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Toni Machado","raw_affiliation_strings":["Department of Industrial Electronics, University of Minho, Guimaraes, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Electronics, University of Minho, Guimaraes, Portugal","institution_ids":["https://openalex.org/I99682543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043606740","display_name":"Tiago Malheiro","orcid":"https://orcid.org/0000-0001-7462-5765"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Tiago Malheiro","raw_affiliation_strings":["Department of Industrial Electronics, University of Minho, Guimaraes, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Electronics, University of Minho, Guimaraes, Portugal","institution_ids":["https://openalex.org/I99682543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025443669","display_name":"S\u00e9rgio Monteiro","orcid":"https://orcid.org/0000-0002-5028-0974"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"S\u00e9rgio Monteiro","raw_affiliation_strings":["Department of Industrial Electronics, University of Minho, Guimaraes, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Electronics, University of Minho, Guimaraes, Portugal","institution_ids":["https://openalex.org/I99682543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067490383","display_name":"Wolfram Erlhagen","orcid":"https://orcid.org/0000-0002-8150-3587"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Wolfram Erlhagen","raw_affiliation_strings":["Department of Mathematics and Applications, University of Minho, Guimaraes, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Applications, University of Minho, Guimaraes, Portugal","institution_ids":["https://openalex.org/I99682543"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025445248","display_name":"Estela Bicho","orcid":"https://orcid.org/0000-0003-2715-4037"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Estela Bicho","raw_affiliation_strings":["Department of Industrial Electronics, University of Minho, Guimaraes, Portugal"],"raw_orcid":"https://orcid.org/0000-0003-2715-4037","affiliations":[{"raw_affiliation_string":"Department of Industrial Electronics, University of Minho, Guimaraes, Portugal","institution_ids":["https://openalex.org/I99682543"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5025445248"],"corresponding_institution_ids":["https://openalex.org/I99682543"],"apc_list":{"value":3390,"currency":"USD","value_usd":3390},"apc_paid":null,"fwci":0.849,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.74577963,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"43","issue":"3","first_page":"589","last_page":"610"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/attractor","display_name":"Attractor","score":0.795899510383606},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7818107604980469},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7628517150878906},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6959009766578674},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5202216506004333},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4822710156440735},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45096662640571594},{"id":"https://openalex.org/keywords/factory","display_name":"Factory (object-oriented programming)","score":0.43549448251724243},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3970186710357666},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3678950071334839},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27162832021713257},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2470472753047943},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08716803789138794}],"concepts":[{"id":"https://openalex.org/C164380108","wikidata":"https://www.wikidata.org/wiki/Q507187","display_name":"Attractor","level":2,"score":0.795899510383606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7818107604980469},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7628517150878906},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6959009766578674},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5202216506004333},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4822710156440735},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45096662640571594},{"id":"https://openalex.org/C40149104","wikidata":"https://www.wikidata.org/wiki/Q5620977","display_name":"Factory (object-oriented programming)","level":2,"score":0.43549448251724243},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3970186710357666},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3678950071334839},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27162832021713257},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2470472753047943},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08716803789138794},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/s10514-018-9729-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-018-9729-2","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"},{"id":"pmh:oai:repositorium.sdum.uminho.pt:1822/69728","is_oa":true,"landing_page_url":"http://hdl.handle.net/1822/69728","pdf_url":"http://hdl.handle.net/1822/69728","source":{"id":"https://openalex.org/S4306401240","display_name":"Reposit\u00f3riUM (Universidade do Minho)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99682543","host_organization_name":"University of Minho","host_organization_lineage":["https://openalex.org/I99682543"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"},{"id":"pmh:oai:repositorium.uminho.pt:1822/69728","is_oa":true,"landing_page_url":"https://hdl.handle.net/1822/69728","pdf_url":null,"source":null,"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:repositorium.sdum.uminho.pt:1822/69728","is_oa":true,"landing_page_url":"http://hdl.handle.net/1822/69728","pdf_url":"http://hdl.handle.net/1822/69728","source":{"id":"https://openalex.org/S4306401240","display_name":"Reposit\u00f3riUM (Universidade do Minho)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99682543","host_organization_name":"University of Minho","host_organization_lineage":["https://openalex.org/I99682543"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5799999833106995,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2797035688.pdf"},"referenced_works_count":55,"referenced_works":["https://openalex.org/W325548290","https://openalex.org/W828763517","https://openalex.org/W1486901376","https://openalex.org/W1499421690","https://openalex.org/W1555355817","https://openalex.org/W1593982112","https://openalex.org/W1648034714","https://openalex.org/W1863381371","https://openalex.org/W1878211282","https://openalex.org/W1923703189","https://openalex.org/W1963031476","https://openalex.org/W1963576482","https://openalex.org/W1991877770","https://openalex.org/W1997777091","https://openalex.org/W2010818426","https://openalex.org/W2011333053","https://openalex.org/W2019695189","https://openalex.org/W2021075320","https://openalex.org/W2025892144","https://openalex.org/W2031436371","https://openalex.org/W2042909696","https://openalex.org/W2053124928","https://openalex.org/W2062939758","https://openalex.org/W2063645887","https://openalex.org/W2077391629","https://openalex.org/W2084458842","https://openalex.org/W2085558157","https://openalex.org/W2103120971","https://openalex.org/W2105547143","https://openalex.org/W2109257377","https://openalex.org/W2112997550","https://openalex.org/W2115388248","https://openalex.org/W2119955255","https://openalex.org/W2121837035","https://openalex.org/W2122575721","https://openalex.org/W2123513004","https://openalex.org/W2125873991","https://openalex.org/W2126641968","https://openalex.org/W2128378439","https://openalex.org/W2128715422","https://openalex.org/W2135281874","https://openalex.org/W2136509658","https://openalex.org/W2146698718","https://openalex.org/W2150044432","https://openalex.org/W2156073568","https://openalex.org/W2159266888","https://openalex.org/W2159720746","https://openalex.org/W2165559934","https://openalex.org/W2286388054","https://openalex.org/W2300756811","https://openalex.org/W2415570156","https://openalex.org/W2936405433","https://openalex.org/W4253174929","https://openalex.org/W4289256693","https://openalex.org/W6611206084"],"related_works":["https://openalex.org/W2724195622","https://openalex.org/W4205669743","https://openalex.org/W1969991288","https://openalex.org/W4200210047","https://openalex.org/W2614963770","https://openalex.org/W2980469219","https://openalex.org/W287737911","https://openalex.org/W2551663027","https://openalex.org/W1511332864","https://openalex.org/W1665215014"],"abstract_inverted_index":{"This":[0],"paper":[1],"shows":[2],"how":[3],"non-linear":[4,67],"attractor":[5,73],"dynamics":[6],"can":[7],"be":[8],"used":[9],"to":[10,24,128],"control":[11,58],"teams":[12],"of":[13,99,115,121,152],"two":[14],"autonomous":[15],"mobile":[16],"robots":[17],"that":[18,93],"coordinate":[19],"their":[20],"motion":[21,50],"in":[22,28,108],"order":[23],"transport":[25],"large":[26],"payloads":[27],"unknown":[29],"environments,":[30],"which":[31],"might":[32],"change":[33],"over":[34,82],"time":[35],"and":[36,42,80,88,105,138,142],"may":[37],"include":[38],"narrow":[39],"passages,":[40],"corners":[41],"sharp":[43],"U-turns.":[44],"Each":[45],"robot":[46,62],"generates":[47],"its":[48],"collision-free":[49],"online":[51],"as":[52,65],"the":[53,112,119,122,131,150,153],"sensed":[54],"information":[55],"changes.":[56],"The":[57],"architecture":[59],"for":[60],"each":[61],"is":[63,90,114,133],"formalized":[64],"a":[66],"dynamical":[68],"system,":[69],"where":[70],"by":[71],"design":[72],"states,":[74,78],"i.e.":[75],"asymptotically":[76],"stable":[77,106],"dominate":[79],"evolve":[81],"time.":[83],"Implementation":[84],"details":[85],"are":[86,98],"provided,":[87],"it":[89],"further":[91],"shown":[92],"odometry":[94],"or":[95],"calibration":[96],"errors":[97],"no":[100],"significance.":[101],"Results":[102],"demonstrate":[103],"flexible":[104],"behavior":[107,148],"different":[109,116],"circumstances:":[110],"when":[111,118,130,143],"payload":[113],"sizes;":[117],"layout":[120],"environment":[123,132],"changes":[124],"from":[125],"one":[126],"run":[127],"another;":[129],"dynamic\u2014e.g.":[134],"following":[135],"moving":[136,140],"targets":[137],"avoiding":[139],"obstacles;":[141],"abrupt":[144],"disturbances":[145],"challenge":[146],"team":[147],"during":[149],"execution":[151],"joint":[154],"transportation":[155],"task.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
