{"id":"https://openalex.org/W2604459962","doi":"https://doi.org/10.1007/s10846-017-0547-0","title":"Integrated Guidance and Feedback Control of Underactuated Robotics System in SE(3)","display_name":"Integrated Guidance and Feedback Control of Underactuated Robotics System in SE(3)","publication_year":2017,"publication_date":"2017-04-07","ids":{"openalex":"https://openalex.org/W2604459962","doi":"https://doi.org/10.1007/s10846-017-0547-0","mag":"2604459962"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-017-0547-0","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-017-0547-0","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":null,"license_id":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039435200","display_name":"Sasi Prabhakaran Viswanathan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sasi Prabhakaran Viswanathan","raw_affiliation_strings":["Akrobotix LLC, Syracuse, NY, 13202, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Akrobotix LLC, Syracuse, NY, 13202, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079524565","display_name":"Amit K. Sanyal","orcid":"https://orcid.org/0000-0002-3258-7841"},"institutions":[{"id":"https://openalex.org/I70983195","display_name":"Syracuse University","ror":"https://ror.org/025r5qe02","country_code":"US","type":"education","lineage":["https://openalex.org/I70983195"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Amit K. Sanyal","raw_affiliation_strings":["Faculty of Mechanical and Aerospace Engineering at Syracuse University, Syracuse, NY, 13244, USA"],"raw_orcid":"https://orcid.org/0000-0002-3258-7841","affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Aerospace Engineering at Syracuse University, Syracuse, NY, 13244, USA","institution_ids":["https://openalex.org/I70983195"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103250553","display_name":"Ehsan Samiei","orcid":"https://orcid.org/0000-0002-6158-5423"},"institutions":[{"id":"https://openalex.org/I10052268","display_name":"New Mexico State University","ror":"https://ror.org/00hpz7z43","country_code":"US","type":"education","lineage":["https://openalex.org/I10052268"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ehsan Samiei","raw_affiliation_strings":["New Mexico State University, Las Cruces, NM, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New Mexico State University, Las Cruces, NM, USA","institution_ids":["https://openalex.org/I10052268"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5079524565"],"corresponding_institution_ids":["https://openalex.org/I70983195"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":3.4658,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.92632146,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"89","issue":"1-2","first_page":"251","last_page":"263"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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":0.9984999895095825,"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/T12158","display_name":"Guidance and Control Systems","score":0.98580002784729,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8875664472579956},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7506623268127441},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.630841076374054},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.4863191545009613},{"id":"https://openalex.org/keywords/euclidean-group","display_name":"Euclidean group","score":0.45855802297592163},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.4372142255306244},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43249428272247314},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43166327476501465},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4165729880332947},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.4155270755290985},{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.4132785201072693},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4115450084209442},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39326488971710205},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37548863887786865},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.2669081687927246},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22627034783363342},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2155633568763733},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2093651294708252},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1671731173992157},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11433562636375427},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10258975625038147},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.09911584854125977},{"id":"https://openalex.org/keywords/affine-space","display_name":"Affine space","score":0.08392408490180969}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8875664472579956},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7506623268127441},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.630841076374054},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.4863191545009613},{"id":"https://openalex.org/C19939924","wikidata":"https://www.wikidata.org/wiki/Q852195","display_name":"Euclidean group","level":4,"score":0.45855802297592163},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.4372142255306244},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43249428272247314},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43166327476501465},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4165729880332947},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.4155270755290985},{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.4132785201072693},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4115450084209442},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39326488971710205},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37548863887786865},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2669081687927246},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22627034783363342},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2155633568763733},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2093651294708252},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1671731173992157},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11433562636375427},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10258975625038147},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.09911584854125977},{"id":"https://openalex.org/C173110770","wikidata":"https://www.wikidata.org/wiki/Q382698","display_name":"Affine space","level":3,"score":0.08392408490180969},{"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/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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-017-0547-0","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-017-0547-0","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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309532","display_name":"Syracuse University","ror":"https://ror.org/025r5qe02"},{"id":"https://openalex.org/F4320310071","display_name":"Indian Institute of Science","ror":"https://ror.org/04dese585"},{"id":"https://openalex.org/F4320311400","display_name":"New Mexico State University","ror":"https://ror.org/00hpz7z43"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W57077127","https://openalex.org/W160538475","https://openalex.org/W601716642","https://openalex.org/W1604181430","https://openalex.org/W1964342070","https://openalex.org/W1970523897","https://openalex.org/W1974891356","https://openalex.org/W1987546532","https://openalex.org/W1988837728","https://openalex.org/W2014028682","https://openalex.org/W2035794385","https://openalex.org/W2037013143","https://openalex.org/W2071355416","https://openalex.org/W2090347046","https://openalex.org/W2109656638","https://openalex.org/W2122703554","https://openalex.org/W2141863446","https://openalex.org/W2142424817","https://openalex.org/W2149176325","https://openalex.org/W2150749340","https://openalex.org/W2156033058","https://openalex.org/W2159999423","https://openalex.org/W2169772828","https://openalex.org/W2171541961","https://openalex.org/W2263117210","https://openalex.org/W2964221158","https://openalex.org/W3009174982","https://openalex.org/W4240460525","https://openalex.org/W4292408540"],"related_works":["https://openalex.org/W4294338795","https://openalex.org/W2500162090","https://openalex.org/W2046770915","https://openalex.org/W2217718355","https://openalex.org/W2369318130","https://openalex.org/W3205444542","https://openalex.org/W1498122250","https://openalex.org/W1980425727","https://openalex.org/W2784993470","https://openalex.org/W27821512"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}