{"id":"https://openalex.org/W1983145721","doi":"https://doi.org/10.1016/s0005-1098(97)00060-5","title":"Optimal steering for an extended class of nonholonomic systems using Lagrange functional","display_name":"Optimal steering for an extended class of nonholonomic systems using Lagrange functional","publication_year":1997,"publication_date":"1997-09-01","ids":{"openalex":"https://openalex.org/W1983145721","doi":"https://doi.org/10.1016/s0005-1098(97)00060-5","mag":"1983145721"},"language":"en","primary_location":{"id":"doi:10.1016/s0005-1098(97)00060-5","is_oa":false,"landing_page_url":"https://doi.org/10.1016/s0005-1098(97)00060-5","pdf_url":null,"source":{"id":"https://openalex.org/S51360982","display_name":"Automatica","issn_l":"0005-1098","issn":["0005-1098","1873-2836"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automatica","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/A5104066772","display_name":"Domenico D\u2019Alessandro","orcid":null},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Domenico D'Alessandro","raw_affiliation_strings":["Dipartimento di Elettronica ed informatica, Universit\u00e0 di Padova, via Gradenigo 6/A, 35131 Padova, Italy","Dipartimento di Elettronica ed Informatica, Universit\u00e0 di Padova Via Gradenigo 6/A, 35131 Padova \u2013 Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica ed informatica, Universit\u00e0 di Padova, via Gradenigo 6/A, 35131 Padova, Italy","institution_ids":["https://openalex.org/I138689650"]},{"raw_affiliation_string":"Dipartimento di Elettronica ed Informatica, Universit\u00e0 di Padova Via Gradenigo 6/A, 35131 Padova \u2013 Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005905901","display_name":"Augusto Ferrante","orcid":"https://orcid.org/0000-0002-9001-8962"},"institutions":[{"id":"https://openalex.org/I129043915","display_name":"University of Udine","ror":"https://ror.org/05ht0mh31","country_code":"IT","type":"education","lineage":["https://openalex.org/I129043915"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Augusto Ferrante","raw_affiliation_strings":["Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica, Universit\u00e0 di Udine, via delle Scienze 208. 33100 Udine, Italy","Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica, Universit\u00e0 di Udine, via delle Scienze 208, 33100 Udine, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica, Universit\u00e0 di Udine, via delle Scienze 208. 33100 Udine, Italy","institution_ids":["https://openalex.org/I129043915"]},{"raw_affiliation_string":"Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica, Universit\u00e0 di Udine, via delle Scienze 208, 33100 Udine, Italy","institution_ids":["https://openalex.org/I129043915"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5005905901"],"corresponding_institution_ids":["https://openalex.org/I129043915"],"apc_list":{"value":3500,"currency":"USD","value_usd":3500},"apc_paid":null,"fwci":1.5833,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.80939296,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"33","issue":"9","first_page":"1635","last_page":"1646"},"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":0.9986000061035156,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9606999754905701,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/nonholonomic-system","display_name":"Nonholonomic system","score":0.8843003511428833},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.7038377523422241},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.638443112373352},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.6370311975479126},{"id":"https://openalex.org/keywords/canonical-form","display_name":"Canonical form","score":0.5566257834434509},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5443929433822632},{"id":"https://openalex.org/keywords/extension","display_name":"Extension (predicate logic)","score":0.543203592300415},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.4990198612213135},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49447178840637207},{"id":"https://openalex.org/keywords/optimality-criterion","display_name":"Optimality criterion","score":0.42593562602996826},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3496025800704956},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3451830744743347},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32543474435806274},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2376078963279724},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.16172409057617188},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09812042117118835}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8843003511428833},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.7038377523422241},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.638443112373352},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.6370311975479126},{"id":"https://openalex.org/C204707403","wikidata":"https://www.wikidata.org/wiki/Q1152398","display_name":"Canonical form","level":2,"score":0.5566257834434509},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5443929433822632},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.543203592300415},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.4990198612213135},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49447178840637207},{"id":"https://openalex.org/C2778153524","wikidata":"https://www.wikidata.org/wiki/Q4241335","display_name":"Optimality criterion","level":2,"score":0.42593562602996826},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3496025800704956},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3451830744743347},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32543474435806274},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2376078963279724},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.16172409057617188},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09812042117118835},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/s0005-1098(97)00060-5","is_oa":false,"landing_page_url":"https://doi.org/10.1016/s0005-1098(97)00060-5","pdf_url":null,"source":{"id":"https://openalex.org/S51360982","display_name":"Automatica","issn_l":"0005-1098","issn":["0005-1098","1873-2836"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Automatica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W22545347","https://openalex.org/W168133945","https://openalex.org/W197984925","https://openalex.org/W1511995803","https://openalex.org/W1564897360","https://openalex.org/W1567262822","https://openalex.org/W1601861390","https://openalex.org/W1896033818","https://openalex.org/W1965640670","https://openalex.org/W1969907944","https://openalex.org/W2013247359","https://openalex.org/W2032233820","https://openalex.org/W2041742710","https://openalex.org/W2052679039","https://openalex.org/W2066416622","https://openalex.org/W2076688688","https://openalex.org/W2133361850","https://openalex.org/W2168923693","https://openalex.org/W2492569580","https://openalex.org/W2949165853","https://openalex.org/W3174321891","https://openalex.org/W3217246742","https://openalex.org/W6600916036","https://openalex.org/W6863246487"],"related_works":["https://openalex.org/W2086511948","https://openalex.org/W1852217473","https://openalex.org/W4254960291","https://openalex.org/W2119334128","https://openalex.org/W2321794067","https://openalex.org/W1498065801","https://openalex.org/W1983145721","https://openalex.org/W2733501331","https://openalex.org/W3134324649","https://openalex.org/W2587344637"],"abstract_inverted_index":null,"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}