{"id":"https://openalex.org/W2158204010","doi":"https://doi.org/10.1017/s026357470800444x","title":"Stable contour-following control of wheeled mobile robots","display_name":"Stable contour-following control of wheeled mobile robots","publication_year":2008,"publication_date":"2008-04-03","ids":{"openalex":"https://openalex.org/W2158204010","doi":"https://doi.org/10.1017/s026357470800444x","mag":"2158204010"},"language":"en","primary_location":{"id":"doi:10.1017/s026357470800444x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357470800444x","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/A5015682817","display_name":"Juan Marcos Toibero","orcid":"https://orcid.org/0000-0001-9347-566X"},"institutions":[{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]}],"countries":["AR"],"is_corresponding":true,"raw_author_name":"Juan Marcos Toibero","raw_affiliation_strings":["Instituto de Autom\u00e1tica \u2013 Universidad Nacional de San Juan, Av. San Mart\u00edn Oeste 1109 \u2013 J5400ARL, San Juan, Argentina. E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Autom\u00e1tica \u2013 Universidad Nacional de San Juan, Av. San Mart\u00edn Oeste 1109 \u2013 J5400ARL, San Juan, Argentina. E-mail:","institution_ids":["https://openalex.org/I39553462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002030815","display_name":"Flavio Robert\u00ed","orcid":"https://orcid.org/0000-0002-5047-0217"},"institutions":[{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Flavio Roberti","raw_affiliation_strings":["Instituto de Autom\u00e1tica \u2013 Universidad Nacional de San Juan, Av. San Mart\u00edn Oeste 1109 \u2013 J5400ARL, San Juan, Argentina. E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Autom\u00e1tica \u2013 Universidad Nacional de San Juan, Av. San Mart\u00edn Oeste 1109 \u2013 J5400ARL, San Juan, Argentina. E-mail:","institution_ids":["https://openalex.org/I39553462"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000849024","display_name":"Ricardo Carelli","orcid":"https://orcid.org/0000-0003-0688-7020"},"institutions":[{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Ricardo Carelli","raw_affiliation_strings":["Instituto de Autom\u00e1tica \u2013 Universidad Nacional de San Juan, Av. San Mart\u00edn Oeste 1109 \u2013 J5400ARL, San Juan, Argentina. E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Autom\u00e1tica \u2013 Universidad Nacional de San Juan, Av. San Mart\u00edn Oeste 1109 \u2013 J5400ARL, San Juan, Argentina. E-mail:","institution_ids":["https://openalex.org/I39553462"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5015682817"],"corresponding_institution_ids":["https://openalex.org/I39553462"],"apc_list":null,"apc_paid":null,"fwci":3.1551,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.92617742,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"27","issue":"1","first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/control-theory","display_name":"Control theory (sociology)","score":0.7204723954200745},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6955638527870178},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6662489175796509},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.6641536951065063},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6617431640625},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5638184547424316},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5003795623779297},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.47817450761795044},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.44416069984436035},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42946115136146545},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4110633134841919},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39714813232421875},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2742477357387543},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2693548798561096},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14423534274101257}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7204723954200745},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6955638527870178},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6662489175796509},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.6641536951065063},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6617431640625},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5638184547424316},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5003795623779297},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.47817450761795044},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.44416069984436035},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42946115136146545},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4110633134841919},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39714813232421875},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2742477357387543},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2693548798561096},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14423534274101257},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s026357470800444x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357470800444x","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321594","display_name":"Consejo Nacional de Investigaciones Cient\u00edficas y T\u00e9cnicas","ror":"https://ror.org/03cqe8w59"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W94566284","https://openalex.org/W164400977","https://openalex.org/W624828924","https://openalex.org/W1500564636","https://openalex.org/W1513220402","https://openalex.org/W1539308594","https://openalex.org/W1552094772","https://openalex.org/W1916419572","https://openalex.org/W1977079497","https://openalex.org/W1995063858","https://openalex.org/W2050012197","https://openalex.org/W2068089241","https://openalex.org/W2069830673","https://openalex.org/W2073619388","https://openalex.org/W2108967569","https://openalex.org/W2114935149","https://openalex.org/W2115392478","https://openalex.org/W2118741873","https://openalex.org/W2128274696","https://openalex.org/W2129443614","https://openalex.org/W2140454545","https://openalex.org/W2160602607","https://openalex.org/W2163744092","https://openalex.org/W2338167185","https://openalex.org/W2583795800","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2724195622","https://openalex.org/W4205669743","https://openalex.org/W4200210047","https://openalex.org/W1969991288","https://openalex.org/W2551663027","https://openalex.org/W2614963770","https://openalex.org/W2980469219","https://openalex.org/W287737911","https://openalex.org/W1511332864","https://openalex.org/W1665215014"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1,124],"paper":[2],"presents":[3],"a":[4,69],"continuous":[5,114],"wall-following":[6,115],"controller":[7,22,73],"for":[8,20],"wheeled":[9],"mobile":[10],"robots":[11],"based":[12],"on":[13],"odometry":[14],"and":[15,33,121,157,164],"distance":[16,26],"information.":[17],"The":[18,59,72,135,148],"reference":[19],"this":[21],"is":[23,66,74,93,142],"the":[24,28,31,35,51,54,57,63,82,87,98,105,138,162,168],"desired":[25],"from":[27],"robot":[29,36,99],"to":[30,37,78,86,100,108,160],"wall":[32,40,47,55],"allows":[34,97],"follow":[38,101],"straight":[39],"contour":[41],"as":[42,44,77,118],"well":[43],"smoothly":[45],"varying":[46],"contours":[48,103],"by":[49,129,144],"including":[50],"curvature":[52],"of":[53,62,81,113,137,167],"into":[56],"controller.":[58],"asymptotic":[60],"stability":[61,136],"control":[64,140,150,169],"system":[65,107,141],"proved":[67],"using":[68],"Lyapunov":[70,146],"analysis.":[71],"designed":[75],"so":[76],"avoid":[79],"saturation":[80],"angular":[83],"velocity":[84],"command":[85],"robot.":[88],"A":[89],"novel":[90],"switching":[91,130,139],"scheme":[92],"also":[94],"proposed":[95,149],"that":[96],"discontinuous":[102],"allowing":[104],"robotic":[106],"deal":[109],"with":[110],"typical":[111],"problems":[112],"controllers":[116],"such":[117],"open":[119],"corners":[120],"possible":[122],"collisions.":[123],"strategy":[125],"overcomes":[126],"these":[127],"instances":[128],"between":[131],"dedicated":[132],"behavior-based":[133],"controllers.":[134],"discussed":[143],"considering":[145],"concepts.":[147],"systems":[151],"are":[152],"verified":[153],"experimentally":[154],"in":[155],"laboratory":[156],"office":[158],"environments":[159],"show":[161],"feasibility":[163],"good":[165],"performance":[166],"algorithms.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}