{"id":"https://openalex.org/W4408040775","doi":"https://doi.org/10.1007/s10846-025-02236-1","title":"Genetic Algorithm-based Control of a Two-Wheeled Self-Balancing Robot","display_name":"Genetic Algorithm-based Control of a Two-Wheeled Self-Balancing Robot","publication_year":2025,"publication_date":"2025-02-28","ids":{"openalex":"https://openalex.org/W4408040775","doi":"https://doi.org/10.1007/s10846-025-02236-1"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-025-02236-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02236-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02236-1.pdf","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 &amp; Robotic Systems","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/s10846-025-02236-1.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031436068","display_name":"Kimon Papadimitriou","orcid":"https://orcid.org/0000-0001-6731-677X"},"institutions":[{"id":"https://openalex.org/I195460627","display_name":"University of Aberdeen","ror":"https://ror.org/016476m91","country_code":"GB","type":"education","lineage":["https://openalex.org/I195460627"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Kleon Dimitrios Papadimitriou","raw_affiliation_strings":["School of Engineering, University of Aberdeen, Elphinstone Road, Aberdeen, AB24 3UE, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Aberdeen, Elphinstone Road, Aberdeen, AB24 3UE, UK","institution_ids":["https://openalex.org/I195460627"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059914356","display_name":"Nikita Murasovs","orcid":null},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nikita Murasovs","raw_affiliation_strings":["School of Engineering, University of Leeds, Woodhouse Lane, Leeds, LS2 9JT, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Leeds, Woodhouse Lane, Leeds, LS2 9JT, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032111132","display_name":"Maria Elena Giannaccini","orcid":"https://orcid.org/0000-0002-0871-4804"},"institutions":[{"id":"https://openalex.org/I195460627","display_name":"University of Aberdeen","ror":"https://ror.org/016476m91","country_code":"GB","type":"education","lineage":["https://openalex.org/I195460627"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maria Elena Giannaccini","raw_affiliation_strings":["School of Engineering, University of Aberdeen, Elphinstone Road, Aberdeen, AB24 3UE, UK"],"raw_orcid":"https://orcid.org/0000-0002-0871-4804","affiliations":[{"raw_affiliation_string":"School of Engineering, University of Aberdeen, Elphinstone Road, Aberdeen, AB24 3UE, UK","institution_ids":["https://openalex.org/I195460627"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056942916","display_name":"Sumeet S. Aphale","orcid":"https://orcid.org/0000-0002-1691-1648"},"institutions":[{"id":"https://openalex.org/I195460627","display_name":"University of Aberdeen","ror":"https://ror.org/016476m91","country_code":"GB","type":"education","lineage":["https://openalex.org/I195460627"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sumeet Aphale","raw_affiliation_strings":["School of Engineering, University of Aberdeen, Elphinstone Road, Aberdeen, AB24 3UE, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Aberdeen, Elphinstone Road, Aberdeen, AB24 3UE, UK","institution_ids":["https://openalex.org/I195460627"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031436068"],"corresponding_institution_ids":["https://openalex.org/I195460627"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":6.5993,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.96498185,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"111","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9973000288009644,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9973000288009644,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.991100013256073,"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":0.9815999865531921,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6106931567192078},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.4885445535182953},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4758557975292206},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4147787094116211},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34885373711586},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34558457136154175},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.18044883012771606}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6106931567192078},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.4885445535182953},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4758557975292206},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4147787094116211},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34885373711586},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34558457136154175},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.18044883012771606}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-025-02236-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02236-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02236-1.pdf","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 &amp; Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:aura.abdn.ac.uk:2164/25344","is_oa":false,"landing_page_url":"https://hdl.handle.net/2164/25344","pdf_url":null,"source":{"id":"https://openalex.org/S4306400966","display_name":"Aberdeen University Research Archive (Aberdeen University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I195460627","host_organization_name":"University of Aberdeen","host_organization_lineage":["https://openalex.org/I195460627"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Journal article"}],"best_oa_location":{"id":"doi:10.1007/s10846-025-02236-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02236-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02236-1.pdf","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 &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320173","display_name":"Carnegie Dunfermline Trust","ror":"https://ror.org/059rs3f80"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4408040775.pdf"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W36145928","https://openalex.org/W179777107","https://openalex.org/W187915584","https://openalex.org/W905898381","https://openalex.org/W1825909828","https://openalex.org/W1964634293","https://openalex.org/W1967694554","https://openalex.org/W1976010845","https://openalex.org/W1994638243","https://openalex.org/W1995117594","https://openalex.org/W2002834287","https://openalex.org/W2017127459","https://openalex.org/W2017792809","https://openalex.org/W2032739219","https://openalex.org/W2040856765","https://openalex.org/W2047215744","https://openalex.org/W2053659506","https://openalex.org/W2076667076","https://openalex.org/W2088020692","https://openalex.org/W2091119046","https://openalex.org/W2091937574","https://openalex.org/W2108707409","https://openalex.org/W2167033030","https://openalex.org/W2167852028","https://openalex.org/W2168502748","https://openalex.org/W2418431150","https://openalex.org/W2507243473","https://openalex.org/W2599108524","https://openalex.org/W2662297521","https://openalex.org/W2884484164","https://openalex.org/W2888468463","https://openalex.org/W3014206308","https://openalex.org/W3043705189","https://openalex.org/W3097937091","https://openalex.org/W3164071993","https://openalex.org/W3176725801","https://openalex.org/W4236888223","https://openalex.org/W4386004641"],"related_works":["https://openalex.org/W2051487156","https://openalex.org/W2073681303","https://openalex.org/W2053286651","https://openalex.org/W2181743346","https://openalex.org/W2187401768","https://openalex.org/W2181413294","https://openalex.org/W2052122378","https://openalex.org/W2544423928","https://openalex.org/W2062023542","https://openalex.org/W4313731559"],"abstract_inverted_index":{"Abstract":[0],"Mobile":[1],"robots":[2,48,80],"are":[3,49,81,112,229],"becoming":[4],"increasingly":[5],"popular":[6],"in":[7,40,143,166,199,218,258],"a":[8,29,114,133,144,149,153],"wide":[9],"array":[10],"of":[11,43,55,96,103,152,160,243],"applications:":[12],"industrial,":[13],"item":[14],"delivery,":[15],"search":[16],"and":[17,21,75,101,126,148,206,210,260],"rescue,":[18],"space,":[19],"social,":[20],"entertainment.":[22],"A":[23],"two-wheeled":[24,154],"self-balancing":[25,79,155],"mobile":[26,156],"robot":[27],"is":[28,164],"statically":[30,254],"unstable":[31,255],"non-linear":[32,256],"system":[33],"with":[34,60],"strong":[35],"coupling":[36],"dynamics.":[37],"Common":[38],"practices":[39],"the":[41,53,85,94,141,161,169,192,200,226,241],"development":[42],"control":[44,119,124,147,182,195,214],"systems":[45,257],"for":[46,249],"such":[47,69],"either":[50],"to":[51,57,64,89,105,120,139,232,246],"linearise":[52],"region":[54],"application":[56],"be":[58],"used":[59,138,174],"linear":[61],"controllers":[62,68,163],"or":[63],"use":[65],"complex":[66],"nonlinear":[67],"as":[70],"fuzzy":[71],"logic,":[72],"sliding":[73,145],"mode,":[74],"neural":[76],"networks.":[77],"However,":[78],"still":[82],"restricted":[83],"by":[84,225,253],"travelling":[86],"distance":[87],"needed":[88],"regain":[90],"an":[91],"upright":[92],"stance,":[93],"length":[95],"settling":[97],"time,":[98,185],"high":[99],"overshoot":[100],"lack":[102],"resilience":[104],"external":[106],"disturbance.":[107],"In":[108],"this":[109],"paper,":[110],"we":[111],"proposing":[113],"novel":[115],"genetic":[116,134,193],"algorithm-based":[117,194,213],"switching":[118,212],"evolve":[121],"more":[122],"effective":[123],"parameters":[125,142],"increase":[127],"autonomy.":[128],"Differently":[129],"from":[130],"previous":[131],"work":[132],"algorithm":[135,228],"has":[136,196],"been":[137],"select":[140],"mode":[146],"switching-algorithm-based":[150],"controller":[151],"robot.":[157],"The":[158,172,188,222],"performance":[159,198,217],"proposed":[162],"assessed":[165],"simulations":[167],"using":[168],"CoppeliaSim":[170],"environment.":[171],"tests":[173,209],"dynamic":[175],"criteria":[176,183],"(distance":[177],"travelled,":[178],"maximum":[179],"angular":[180],"deviation),":[181],"(settling":[184],"%":[186],"overshoot).":[187],"results":[189,223],"showed":[190],"that":[191,211],"better":[197,216,234],"55":[201],"degree":[202],"recovery,":[203],"impulse":[204],"response":[205,220],"variable":[207],"inclination":[208],"shows":[215,240],"step":[219],"tests.":[221],"produced":[224],"evolutionary":[227],"often":[230],"able":[231],"perform":[233],"than":[235],"their":[236],"analytic":[237],"counterparts.":[238],"This":[239],"potential":[242],"meta-heuristic":[244],"algorithms":[245],"obtain":[247],"solutions":[248],"optimization":[250],"problems":[251],"encountered":[252],"unstructured":[259],"fast-changing":[261],"environments.":[262]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
