{"id":"https://openalex.org/W2078528205","doi":"https://doi.org/10.1017/s0263574700019858","title":"Dynamic model of a two-trailer articulated vehicle subject to nonholonomic constraints","display_name":"Dynamic model of a two-trailer articulated vehicle subject to nonholonomic constraints","publication_year":1996,"publication_date":"1996-07-01","ids":{"openalex":"https://openalex.org/W2078528205","doi":"https://doi.org/10.1017/s0263574700019858","mag":"2078528205"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700019858","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700019858","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5004868451","display_name":"Paolo Bolzern","orcid":"https://orcid.org/0000-0002-5500-3810"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"P. Bolzern","raw_affiliation_strings":["Dip. Elettronica e Informazione, Politecnico di Milano Piazza L. da Vinci 32, 20133 Milano (Italy","*Dip. Elettronica e Informazione, Politecnico di Milano Piazza L. da Vinci 32, 20133 Milano (Italy)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dip. Elettronica e Informazione, Politecnico di Milano Piazza L. da Vinci 32, 20133 Milano (Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"*Dip. Elettronica e Informazione, Politecnico di Milano Piazza L. da Vinci 32, 20133 Milano (Italy)","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030991959","display_name":"R.M. DeSantis","orcid":null},"institutions":[{"id":"https://openalex.org/I29607241","display_name":"\u00c9cole Normale Sup\u00e9rieure - PSL","ror":"https://ror.org/05a0dhs15","country_code":"FR","type":"other","lineage":["https://openalex.org/I2746051580","https://openalex.org/I29607241"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA","FR"],"is_corresponding":false,"raw_author_name":"R. DeSantis","raw_affiliation_strings":["Dept. de Genie Electrique et Genie Informatique Ecole Polythecnique de Montreal 2900 Boul. Edouard-Mont Petit, C.P. 6079-A Montreal, Quebec (Canada","\u2020Dept. de Genie Electrique et Genie Informatique Ecole Polythecnique de Montreal 2900 Boul. Edouard-Mont Petit, C.P. 6079-A Montreal, Quebec (Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. de Genie Electrique et Genie Informatique Ecole Polythecnique de Montreal 2900 Boul. Edouard-Mont Petit, C.P. 6079-A Montreal, Quebec (Canada","institution_ids":["https://openalex.org/I45683168"]},{"raw_affiliation_string":"\u2020Dept. de Genie Electrique et Genie Informatique Ecole Polythecnique de Montreal 2900 Boul. Edouard-Mont Petit, C.P. 6079-A Montreal, Quebec (Canada","institution_ids":["https://openalex.org/I29607241","https://openalex.org/I45683168"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086062922","display_name":"A. Locatelli","orcid":"https://orcid.org/0000-0002-7122-3311"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"A. Locatelli","raw_affiliation_strings":["Dip. Elettronica e Informazione, Politecnico di Milano Piazza L. da Vinci 32, 20133 Milano (Italy","*Dip. Elettronica e Informazione, Politecnico di Milano Piazza L. da Vinci 32, 20133 Milano (Italy)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dip. Elettronica e Informazione, Politecnico di Milano Piazza L. da Vinci 32, 20133 Milano (Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"*Dip. Elettronica e Informazione, Politecnico di Milano Piazza L. da Vinci 32, 20133 Milano (Italy)","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048945931","display_name":"S. Togno","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"S. Togno","raw_affiliation_strings":["Dip. Elettronica e Informazione, Politecnico di Milano Piazza L. da Vinci 32, 20133 Milano (Italy","*Dip. Elettronica e Informazione, Politecnico di Milano Piazza L. da Vinci 32, 20133 Milano (Italy)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dip. Elettronica e Informazione, Politecnico di Milano Piazza L. da Vinci 32, 20133 Milano (Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"*Dip. Elettronica e Informazione, Politecnico di Milano Piazza L. da Vinci 32, 20133 Milano (Italy)","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5004868451"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.21128662,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"14","issue":"4","first_page":"445","last_page":"450"},"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":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","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":0.9933000206947327,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9855999946594238,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9313602447509766},{"id":"https://openalex.org/keywords/articulated-vehicle","display_name":"Articulated vehicle","score":0.7733731865882874},{"id":"https://openalex.org/keywords/trailer","display_name":"Trailer","score":0.709006130695343},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.6787450313568115},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.53171706199646},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4595043361186981},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39393773674964905},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.31101781129837036},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.281379759311676},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23901459574699402},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22550970315933228},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1257324516773224},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11357074975967407}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.9313602447509766},{"id":"https://openalex.org/C56691938","wikidata":"https://www.wikidata.org/wiki/Q1411533","display_name":"Articulated vehicle","level":3,"score":0.7733731865882874},{"id":"https://openalex.org/C2779101595","wikidata":"https://www.wikidata.org/wiki/Q7832787","display_name":"Trailer","level":2,"score":0.709006130695343},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.6787450313568115},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.53171706199646},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4595043361186981},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39393773674964905},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.31101781129837036},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.281379759311676},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23901459574699402},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22550970315933228},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1257324516773224},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11357074975967407},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C52121051","wikidata":"https://www.wikidata.org/wiki/Q43193","display_name":"Truck","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574700019858","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700019858","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:re.public.polimi.it:11311/559547","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/559547","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322892","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1556694669","https://openalex.org/W1557098279","https://openalex.org/W2009261347","https://openalex.org/W2052726419","https://openalex.org/W2056934327","https://openalex.org/W2069090754","https://openalex.org/W2096395363","https://openalex.org/W2102119157","https://openalex.org/W2113640862","https://openalex.org/W2166586069","https://openalex.org/W2312644716"],"related_works":["https://openalex.org/W85000515","https://openalex.org/W652468396","https://openalex.org/W2246352041","https://openalex.org/W2078528205","https://openalex.org/W58835972","https://openalex.org/W758062354","https://openalex.org/W4251749649","https://openalex.org/W3175006268","https://openalex.org/W4244324943","https://openalex.org/W1568602033"],"abstract_inverted_index":{"SUMMARY":[0],"The":[1,26,40],"dynamic":[2],"model":[3,27],"of":[4,9,33,46],"an":[5],"articulated":[6],"vehicle":[7],"consisting":[8],"one":[10],"tractor":[11],"and":[12],"two":[13],"semi-trailers":[14],"is":[15,28],"derived":[16],"according":[17],"to":[18],"a":[19,44],"systematic":[20],"approach":[21],"available":[22],"in":[23],"the":[24,31],"literature.":[25],"produced":[29],"on":[30],"assumption":[32],"no":[34],"slippage,":[35],"which":[36],"enforces":[37],"nonholonomic":[38],"constraints.":[39],"resulting":[41],"equations":[42],"encompass":[43],"number":[45],"significant":[47],"special":[48],"cases.":[49]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-25T08:17:42.794288","created_date":"2025-10-10T00:00:00"}
