{"id":"https://openalex.org/W4283809684","doi":"https://doi.org/10.1007/s10514-022-10050-z","title":"Manipulation at optimum locations for maximum force transmission with mobile robots under environmental disturbances","display_name":"Manipulation at optimum locations for maximum force transmission with mobile robots under environmental disturbances","publication_year":2022,"publication_date":"2022-07-05","ids":{"openalex":"https://openalex.org/W4283809684","doi":"https://doi.org/10.1007/s10514-022-10050-z"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-022-10050-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-022-10050-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10050-z.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10050-z.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010997945","display_name":"Harun Tugal","orcid":"https://orcid.org/0000-0001-9103-6380"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Harun Tugal","raw_affiliation_strings":["Edinburgh Centre for Robotics, Edinburgh, UK","Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, EH14 4AL, Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"Edinburgh Centre for Robotics, Edinburgh, UK","institution_ids":[]},{"raw_affiliation_string":"Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, EH14 4AL, Edinburgh, UK","institution_ids":["https://openalex.org/I32062511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074234711","display_name":"Kamil \u00c7etin","orcid":"https://orcid.org/0000-0003-1029-5626"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kamil Cetin","raw_affiliation_strings":["Edinburgh Centre for Robotics, Edinburgh, UK","Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, EH14 4AL, Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"Edinburgh Centre for Robotics, Edinburgh, UK","institution_ids":[]},{"raw_affiliation_string":"Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, EH14 4AL, Edinburgh, UK","institution_ids":["https://openalex.org/I32062511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034972272","display_name":"Yvan P\u00e9tillot","orcid":"https://orcid.org/0000-0002-1596-289X"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yvan Petillot","raw_affiliation_strings":["Edinburgh Centre for Robotics, Edinburgh, UK","Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, EH14 4AL, Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"Edinburgh Centre for Robotics, Edinburgh, UK","institution_ids":[]},{"raw_affiliation_string":"Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, EH14 4AL, Edinburgh, UK","institution_ids":["https://openalex.org/I32062511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082750336","display_name":"Matthew W. Dunnigan","orcid":"https://orcid.org/0000-0002-9150-7856"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Matthew Dunnigan","raw_affiliation_strings":["Edinburgh Centre for Robotics, Edinburgh, UK","Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, EH14 4AL, Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"Edinburgh Centre for Robotics, Edinburgh, UK","institution_ids":[]},{"raw_affiliation_string":"Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, EH14 4AL, Edinburgh, UK","institution_ids":["https://openalex.org/I32062511"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090243306","display_name":"Mustafa Suphi Erden","orcid":"https://orcid.org/0000-0001-6199-9151"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mustafa Suphi Erden","raw_affiliation_strings":["Edinburgh Centre for Robotics, Edinburgh, UK","Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, EH14 4AL, Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"Edinburgh Centre for Robotics, Edinburgh, UK","institution_ids":[]},{"raw_affiliation_string":"Institute of Sensors, Signals and Systems, School of Engineering and Physical Sciences, Heriot-Watt University, EH14 4AL, Edinburgh, UK","institution_ids":["https://openalex.org/I32062511"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5010997945"],"corresponding_institution_ids":["https://openalex.org/I32062511"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":{"value":2590,"currency":"EUR","value_usd":3390},"fwci":0.6124,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.66948546,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"46","issue":"6","first_page":"769","last_page":"782"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9983000159263611,"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/computer-science","display_name":"Computer science","score":0.8392740488052368},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6906232833862305},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.5952444076538086},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5929633378982544},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5759318470954895},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5501821041107178},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5184361934661865},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.4889875650405884},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3507661819458008},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33996134996414185},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2552649676799774},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18017765879631042}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8392740488052368},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6906232833862305},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.5952444076538086},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5929633378982544},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5759318470954895},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5501821041107178},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5184361934661865},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.4889875650405884},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3507661819458008},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33996134996414185},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2552649676799774},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18017765879631042},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10514-022-10050-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-022-10050-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10050-z.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10514-022-10050-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-022-10050-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10050-z.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1934935867","display_name":null,"funder_award_id":"Engineering and Physical Sciences R","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G2838024195","display_name":"UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management","funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8602921712","display_name":null,"funder_award_id":"EP/R026173","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4283809684.pdf","grobid_xml":"https://content.openalex.org/works/W4283809684.grobid-xml"},"referenced_works_count":52,"referenced_works":["https://openalex.org/W148552177","https://openalex.org/W265467607","https://openalex.org/W350273603","https://openalex.org/W1516585521","https://openalex.org/W1530715683","https://openalex.org/W1974357213","https://openalex.org/W1975630708","https://openalex.org/W1980049827","https://openalex.org/W2001273675","https://openalex.org/W2008364784","https://openalex.org/W2027382431","https://openalex.org/W2049410986","https://openalex.org/W2096524645","https://openalex.org/W2105224385","https://openalex.org/W2106980278","https://openalex.org/W2109364787","https://openalex.org/W2115621646","https://openalex.org/W2123066915","https://openalex.org/W2130782078","https://openalex.org/W2131310327","https://openalex.org/W2133493588","https://openalex.org/W2134910768","https://openalex.org/W2144082062","https://openalex.org/W2152195021","https://openalex.org/W2165171393","https://openalex.org/W2171107890","https://openalex.org/W2311340680","https://openalex.org/W2317744239","https://openalex.org/W2348980703","https://openalex.org/W2492811885","https://openalex.org/W2531829834","https://openalex.org/W2563150812","https://openalex.org/W2565210018","https://openalex.org/W2565233142","https://openalex.org/W2772607898","https://openalex.org/W2792083172","https://openalex.org/W2809433381","https://openalex.org/W2809461179","https://openalex.org/W2811323792","https://openalex.org/W2888092264","https://openalex.org/W2904957212","https://openalex.org/W2909734923","https://openalex.org/W2914857512","https://openalex.org/W2963686294","https://openalex.org/W2999901077","https://openalex.org/W3005080401","https://openalex.org/W3007123786","https://openalex.org/W3014873648","https://openalex.org/W3131183118","https://openalex.org/W3186924657","https://openalex.org/W6606503916","https://openalex.org/W6631495726"],"related_works":["https://openalex.org/W3019402777","https://openalex.org/W2031835531","https://openalex.org/W2388590088","https://openalex.org/W4386596916","https://openalex.org/W2097519318","https://openalex.org/W1969166468","https://openalex.org/W2116377213","https://openalex.org/W8302103","https://openalex.org/W2122371747","https://openalex.org/W2314154450"],"abstract_inverted_index":{"Abstract":[0],"Remote":[1],"manipulation":[2],"plays":[3],"a":[4,14,30,53],"key":[5],"role":[6],"for":[7,42,111,140,148],"applications":[8],"in":[9,55],"hazardous":[10],"conditions,":[11],"yet":[12],"designing":[13],"robust":[15],"controller":[16,87,108],"enabling":[17,144],"safe":[18],"interaction":[19,113],"with":[20,104,114],"unknown":[21,116],"environment":[22],"and":[23,39,135],"under":[24,118],"the":[25,70,78,82,127,137,141,149],"influence":[26],"of":[27,77],"disturbances":[28,134],"is":[29,61,72,88],"challenge.":[31],"In":[32],"this":[33],"study,":[34],"we":[35],"propose":[36],"effective":[37],"control":[38,101],"optimization":[40,68],"methods":[41],"mobile":[43],"robotic":[44,79],"manipulator":[45],"systems":[46],"that":[47,126],"can":[48],"increase":[49,136],"effort":[50,146],"transmission":[51,147],"to":[52,73,90],"task":[54,143,150],"desired":[56],"directions.":[57],"The":[58,121],"vehicle":[59],"position":[60,133],"optimized":[62],"by":[63],"utilizing":[64],"constrained":[65],"particle":[66],"swarm":[67],"where":[69],"objective":[71],"enhance":[74],"directional":[75,138],"manipulability":[76,139],"arm":[80],"within":[81],"system.":[83],"A":[84,99],"forward":[85],"dynamic":[86],"implemented":[89],"eliminate":[91],"undesired":[92,132],"excessive":[93],"motions":[94],"near":[95],"singular":[96],"joint":[97],"configurations.":[98],"reset":[100],"algorithm":[102],"along":[103],"an":[105,115],"admittance":[106],"type":[107],"are":[109],"developed":[110],"stable":[112],"object":[117],"environmental":[119],"disturbances.":[120],"experimentally":[122],"validated":[123],"results":[124],"show":[125],"proposed":[128],"method":[129],"phase":[130],"out":[131],"required":[142],"augmented":[145],"execution.":[151]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}
