{"id":"https://openalex.org/W2582343125","doi":"https://doi.org/10.1007/s10846-017-0482-0","title":"VFO Path following Control with Guarantees of Positionally Constrained Transients for Unicycle-Like Robots with Constrained Control Input","display_name":"VFO Path following Control with Guarantees of Positionally Constrained Transients for Unicycle-Like Robots with Constrained Control Input","publication_year":2017,"publication_date":"2017-01-27","ids":{"openalex":"https://openalex.org/W2582343125","doi":"https://doi.org/10.1007/s10846-017-0482-0","mag":"2582343125"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-017-0482-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-017-0482-0","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1007/s10846-017-0482-0","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033779541","display_name":"Maciej Marcin Micha\u0142ek","orcid":"https://orcid.org/0000-0002-9953-703X"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Maciej Marcin Micha\u0142ek","raw_affiliation_strings":["Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Piotrowo 3A, 60-965, Pozna\u0144, Poland"],"raw_orcid":"https://orcid.org/0000-0002-9953-703X","affiliations":[{"raw_affiliation_string":"Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Piotrowo 3A, 60-965, Pozna\u0144, Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077930860","display_name":"Tomasz Gawron","orcid":"https://orcid.org/0000-0003-0975-6077"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Tomasz Gawron","raw_affiliation_strings":["Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Piotrowo 3A, 60-965, Pozna\u0144, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Control and Systems Engineering, Poznan University of Technology (PUT), Piotrowo 3A, 60-965, Pozna\u0144, Poland","institution_ids":["https://openalex.org/I46597724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5033779541"],"corresponding_institution_ids":["https://openalex.org/I46597724"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":1.8368,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.8553719,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"89","issue":"1-2","first_page":"191","last_page":"210"},"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":0.9994000196456909,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9980999827384949,"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/trajectory","display_name":"Trajectory","score":0.6158531904220581},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6124640703201294},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.607208788394928},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5909475088119507},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5446842908859253},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5218245387077332},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5061141848564148},{"id":"https://openalex.org/keywords/parametrization","display_name":"Parametrization (atmospheric modeling)","score":0.4941284954547882},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48835489153862},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4170278012752533},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2496851682662964},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2044382095336914},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10101759433746338}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6158531904220581},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6124640703201294},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.607208788394928},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5909475088119507},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5446842908859253},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5218245387077332},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5061141848564148},{"id":"https://openalex.org/C202887219","wikidata":"https://www.wikidata.org/wiki/Q3895221","display_name":"Parametrization (atmospheric modeling)","level":3,"score":0.4941284954547882},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48835489153862},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4170278012752533},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2496851682662964},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2044382095336914},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10101759433746338},{"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/C74902906","wikidata":"https://www.wikidata.org/wiki/Q1190858","display_name":"Radiative transfer","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-017-0482-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-017-0482-0","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10846-017-0482-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-017-0482-0","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4693065840","display_name":null,"funder_award_id":"2016/21/B/ST7/02259","funder_id":"https://openalex.org/F4320322511","funder_display_name":"Narodowe Centrum Nauki"}],"funders":[{"id":"https://openalex.org/F4320322511","display_name":"Narodowe Centrum Nauki","ror":"https://ror.org/03ha2q922"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W133177558","https://openalex.org/W207421972","https://openalex.org/W1139852642","https://openalex.org/W1487112583","https://openalex.org/W1523457751","https://openalex.org/W1540663716","https://openalex.org/W1558979968","https://openalex.org/W1596951786","https://openalex.org/W1687739456","https://openalex.org/W1919307292","https://openalex.org/W1978367897","https://openalex.org/W1991554982","https://openalex.org/W2010573563","https://openalex.org/W2018418661","https://openalex.org/W2024509485","https://openalex.org/W2044732464","https://openalex.org/W2050226858","https://openalex.org/W2050964711","https://openalex.org/W2074857762","https://openalex.org/W2097833421","https://openalex.org/W2107428863","https://openalex.org/W2112259216","https://openalex.org/W2120308855","https://openalex.org/W2122601531","https://openalex.org/W2126966710","https://openalex.org/W2127988032","https://openalex.org/W2134078068","https://openalex.org/W2149993368","https://openalex.org/W2154524458","https://openalex.org/W2170304637","https://openalex.org/W2177424877","https://openalex.org/W2263374285","https://openalex.org/W4205940976","https://openalex.org/W4242100326","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W4293794923","https://openalex.org/W2507513082","https://openalex.org/W886502991","https://openalex.org/W2799139340","https://openalex.org/W2149572136","https://openalex.org/W3048587953","https://openalex.org/W2610147447","https://openalex.org/W4293530535","https://openalex.org/W2319870462","https://openalex.org/W2083550201"],"abstract_inverted_index":{"The":[0,84],"Vector-Field-Orientation":[1],"(VFO)":[2],"method":[3],"is":[4,75,145],"a":[5,56,91,136,162,172,198,202,219],"control":[6,21,30,61,67,106,120],"design":[7],"concept":[8],"which":[9,74,129,186],"was":[10,39],"originally":[11],"introduced":[12,125],"for":[13,63,98],"the":[14,25,37,45,59,64,70,79,104,116,118,123,142,152,158,165,176,194],"unicycle":[15],"kinematics":[16,102],"to":[17,24,35,109,164,169,197],"solve":[18],"two":[19],"classical":[20,66],"tasks":[22,38],"corresponding":[23],"trajectory":[26],"tracking":[27],"and":[28,213],"set-point":[29],"problems.":[31],"A":[32],"unified":[33],"solution":[34,144],"both":[36],"possible":[40],"by":[41,89,210],"appropriate":[42],"definitions":[43],"of":[44,58,81,100,135,147,154,157,175,190,218],"so-called":[46],"convergence":[47],"vector":[48],"field.":[49],"So":[50],"far,":[51],"there":[52],"has":[53],"not":[54,131],"been":[55,208],"version":[57],"VFO":[60,93],"law":[62,121],"third":[65],"task":[68],"concerning":[69],"path":[71,94,111],"following":[72,95,112],"problem,":[73],"particularly":[76],"meaningful":[77],"in":[78,115,180],"context":[80],"practical":[82],"applications.":[83],"paper":[85,182],"fills":[86],"this":[87,140,181],"gap":[88],"presenting":[90],"novel":[92],"controller":[96],"devised":[97],"robots":[99],"unicycle-like":[101],"with":[103,193,216],"amplitude-limited":[105],"input.":[107],"Opposite":[108],"most":[110],"controllers":[113],"proposed":[114,143],"literature,":[117],"new":[119],"utilizes":[122],"recently":[124],"level":[126],"curve":[127],"approach":[128],"does":[130],"employ":[132],"any":[133],"parametrization":[134],"reference":[137,203],"path.":[138,166,204],"In":[139,167],"way,":[141],"free":[146],"main":[148],"limitations":[149],"resulting":[150],"from":[151,161],"need":[153],"unique":[155],"determination":[156],"shortest":[159],"distance":[160],"robot":[163,191],"contrast":[168],"other":[170],"solutions,":[171],"formal":[173],"analysis":[174],"closed-loop":[177],"dynamics":[178],"presented":[179],"provides":[183],"sufficient":[184],"conditions":[185],"guarantee":[187],"constrained":[188],"transients":[189],"motion":[192],"position":[195],"confined":[196],"prescribed":[199],"subset":[200],"around":[201],"Theoretical":[205],"results":[206],"have":[207],"validated":[209],"numerical":[211],"examples":[212],"experimentally":[214],"verified":[215],"utilization":[217],"laboratory-scale":[220],"differentially":[221],"driven":[222],"robot.":[223]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2025-10-10T00:00:00"}