{"id":"https://openalex.org/W3154209325","doi":"https://doi.org/10.1007/s10846-021-01373-7","title":"Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance","display_name":"Nonlinear Model Predictive Path Following Controller with Obstacle Avoidance","publication_year":2021,"publication_date":"2021-04-20","ids":{"openalex":"https://openalex.org/W3154209325","doi":"https://doi.org/10.1007/s10846-021-01373-7","mag":"3154209325"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-021-01373-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-021-01373-7","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 &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11336/184535","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064519788","display_name":"Ignacio Jos\u00e9 Garc\u00eda S\u00e1nchez","orcid":"https://orcid.org/0000-0001-6650-5683"},"institutions":[{"id":"https://openalex.org/I4210087694","display_name":"Centro Cient\u00edfico Tecnol\u00f3gico - Santa Fe","ror":"https://ror.org/003vet424","country_code":"AR","type":"facility","lineage":["https://openalex.org/I151201029","https://openalex.org/I4210087694","https://openalex.org/I4210123736","https://openalex.org/I4387155568"]}],"countries":["AR"],"is_corresponding":true,"raw_author_name":"Ignacio S\u00e1nchez","raw_affiliation_strings":["IMAL, CONICET-UNL, Santa Fe, Argentina"],"raw_orcid":"https://orcid.org/0000-0001-6650-5683","affiliations":[{"raw_affiliation_string":"IMAL, CONICET-UNL, Santa Fe, Argentina","institution_ids":["https://openalex.org/I4210087694"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110965936","display_name":"Agustina D\u2019Jorge","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087694","display_name":"Centro Cient\u00edfico Tecnol\u00f3gico - Santa Fe","ror":"https://ror.org/003vet424","country_code":"AR","type":"facility","lineage":["https://openalex.org/I151201029","https://openalex.org/I4210087694","https://openalex.org/I4210123736","https://openalex.org/I4387155568"]},{"id":"https://openalex.org/I4210102755","display_name":"Instituto de Desarrollo Tecnol\u00f3gico para la Industria Qu\u00edmica","ror":"https://ror.org/01kwwh635","country_code":"AR","type":"facility","lineage":["https://openalex.org/I151201029","https://openalex.org/I3121987637","https://openalex.org/I4210087694","https://openalex.org/I4210102755","https://openalex.org/I4210123736","https://openalex.org/I4387155568"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Agustina D\u2019Jorge","raw_affiliation_strings":["INTEC, CONICET-UNL, Santa Fe, Argentina"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INTEC, CONICET-UNL, Santa Fe, Argentina","institution_ids":["https://openalex.org/I4210087694","https://openalex.org/I4210102755"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044452531","display_name":"Guilherme V. Raffo","orcid":"https://orcid.org/0000-0002-1835-8380"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Guilherme V. Raffo","raw_affiliation_strings":["Federal University of Minas Gerais, Belo Horizonte, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Federal University of Minas Gerais, Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006192544","display_name":"Alejandro H. Gonz\u00e1lez","orcid":"https://orcid.org/0000-0001-9132-4577"},"institutions":[{"id":"https://openalex.org/I4210087694","display_name":"Centro Cient\u00edfico Tecnol\u00f3gico - Santa Fe","ror":"https://ror.org/003vet424","country_code":"AR","type":"facility","lineage":["https://openalex.org/I151201029","https://openalex.org/I4210087694","https://openalex.org/I4210123736","https://openalex.org/I4387155568"]},{"id":"https://openalex.org/I4210102755","display_name":"Instituto de Desarrollo Tecnol\u00f3gico para la Industria Qu\u00edmica","ror":"https://ror.org/01kwwh635","country_code":"AR","type":"facility","lineage":["https://openalex.org/I151201029","https://openalex.org/I3121987637","https://openalex.org/I4210087694","https://openalex.org/I4210102755","https://openalex.org/I4210123736","https://openalex.org/I4387155568"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Alejandro H. Gonz\u00e1lez","raw_affiliation_strings":["INTEC, CONICET-UNL, Santa Fe, Argentina"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INTEC, CONICET-UNL, Santa Fe, Argentina","institution_ids":["https://openalex.org/I4210087694","https://openalex.org/I4210102755"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072233007","display_name":"Antonio Ferramosca","orcid":"https://orcid.org/0000-0003-3935-9734"},"institutions":[{"id":"https://openalex.org/I11039511","display_name":"University of Bergamo","ror":"https://ror.org/02mbd5571","country_code":"IT","type":"education","lineage":["https://openalex.org/I11039511"]},{"id":"https://openalex.org/I4210087694","display_name":"Centro Cient\u00edfico Tecnol\u00f3gico - Santa Fe","ror":"https://ror.org/003vet424","country_code":"AR","type":"facility","lineage":["https://openalex.org/I151201029","https://openalex.org/I4210087694","https://openalex.org/I4210123736","https://openalex.org/I4387155568"]}],"countries":["AR","IT"],"is_corresponding":false,"raw_author_name":"Antonio Ferramosca","raw_affiliation_strings":["CONICET, CCT Santa Fe, Argentina","Department of Management, Information and Production Engineering University of Bergamo, Bergamo, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CONICET, CCT Santa Fe, Argentina","institution_ids":["https://openalex.org/I4210087694"]},{"raw_affiliation_string":"Department of Management, Information and Production Engineering University of Bergamo, Bergamo, Italy","institution_ids":["https://openalex.org/I11039511"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5064519788"],"corresponding_institution_ids":["https://openalex.org/I4210087694"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":4.024,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.94056235,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"102","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998000264167786,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998000264167786,"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":0.9984999895095825,"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":0.9801999926567078,"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/model-predictive-control","display_name":"Model predictive control","score":0.8119815587997437},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7988022565841675},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7752947807312012},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6115403175354004},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5694678425788879},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.562511682510376},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5609785318374634},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5149384140968323},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.477083295583725},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4680556654930115},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4543763995170593},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.42743033170700073},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4162255525588989},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34585249423980713},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.295093834400177},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11198803782463074},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08334153890609741},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.06085178256034851}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8119815587997437},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7988022565841675},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7752947807312012},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6115403175354004},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5694678425788879},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.562511682510376},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5609785318374634},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5149384140968323},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.477083295583725},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4680556654930115},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4543763995170593},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.42743033170700073},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4162255525588989},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34585249423980713},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.295093834400177},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11198803782463074},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08334153890609741},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.06085178256034851},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/s10846-021-01373-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-021-01373-7","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 &amp; Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:aisberg.unibg.it:10446/180740","is_oa":false,"landing_page_url":"http://hdl.handle.net/10446/180740","pdf_url":null,"source":{"id":"https://openalex.org/S4377196347","display_name":"Aisberg (University of Bergamo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I11039511","host_organization_name":"University of Bergamo","host_organization_lineage":["https://openalex.org/I11039511"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:ri.conicet.gov.ar:11336/184535","is_oa":true,"landing_page_url":"http://hdl.handle.net/11336/184535","pdf_url":null,"source":{"id":"https://openalex.org/S4306401400","display_name":"Conicet","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210104196","host_organization_name":"Centro Cient\u00edfico Tecnol\u00f3gico - Nordeste","host_organization_lineage":["https://openalex.org/I4210104196"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:ri.conicet.gov.ar:11336/184535","is_oa":true,"landing_page_url":"http://hdl.handle.net/11336/184535","pdf_url":null,"source":{"id":"https://openalex.org/S4306401400","display_name":"Conicet","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210104196","host_organization_name":"Centro Cient\u00edfico Tecnol\u00f3gico - Nordeste","host_organization_lineage":["https://openalex.org/I4210104196"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1631623342","https://openalex.org/W1724370735","https://openalex.org/W1851495196","https://openalex.org/W1968975597","https://openalex.org/W1983961745","https://openalex.org/W1997704083","https://openalex.org/W2006057000","https://openalex.org/W2024509485","https://openalex.org/W2030766364","https://openalex.org/W2064693539","https://openalex.org/W2069830673","https://openalex.org/W2084919540","https://openalex.org/W2088238695","https://openalex.org/W2090528409","https://openalex.org/W2091565796","https://openalex.org/W2099740514","https://openalex.org/W2127617835","https://openalex.org/W2131062657","https://openalex.org/W2133741402","https://openalex.org/W2134781609","https://openalex.org/W2141664020","https://openalex.org/W2172117433","https://openalex.org/W2186933446","https://openalex.org/W2482392012","https://openalex.org/W2523760000","https://openalex.org/W2528060905","https://openalex.org/W2529203031","https://openalex.org/W2529467364","https://openalex.org/W2563378438","https://openalex.org/W2593793769","https://openalex.org/W2789778114","https://openalex.org/W2792285312","https://openalex.org/W2889390607","https://openalex.org/W2945075306","https://openalex.org/W2963011664","https://openalex.org/W2970930573","https://openalex.org/W3004432115","https://openalex.org/W3004786756","https://openalex.org/W3005322855","https://openalex.org/W3015470607"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
