{"id":"https://openalex.org/W2014834786","doi":"https://doi.org/10.1017/s0263574710000068","title":"Formation control and trajectory tracking of mobile robotic systems \u2013 a Linear Algebra approach","display_name":"Formation control and trajectory tracking of mobile robotic systems \u2013 a Linear Algebra approach","publication_year":2010,"publication_date":"2010-05-05","ids":{"openalex":"https://openalex.org/W2014834786","doi":"https://doi.org/10.1017/s0263574710000068","mag":"2014834786"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574710000068","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574710000068","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/A5102730122","display_name":"Andr\u00e9s Rosales","orcid":"https://orcid.org/0000-0003-0710-928X"},"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":"Andr\u00e9s Rosales","raw_affiliation_strings":["Instituto de Autom\u00e1tica (INAUT). Universidad Nacional de San Juan, Av. Libertador San Mart\u00edn 1109 (oeste) \u2013 J5400ARL, San Juan, Argentina"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Autom\u00e1tica (INAUT). Universidad Nacional de San Juan, Av. Libertador San Mart\u00edn 1109 (oeste) \u2013 J5400ARL, San Juan, Argentina","institution_ids":["https://openalex.org/I39553462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065815764","display_name":"Gustavo Scaglia","orcid":"https://orcid.org/0000-0002-0188-0017"},"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":"Gustavo Scaglia","raw_affiliation_strings":["Instituto de Autom\u00e1tica (INAUT). Universidad Nacional de San Juan, Av. Libertador San Mart\u00edn 1109 (oeste) \u2013 J5400ARL, San Juan, Argentina"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Autom\u00e1tica (INAUT). Universidad Nacional de San Juan, Av. Libertador San Mart\u00edn 1109 (oeste) \u2013 J5400ARL, San Juan, Argentina","institution_ids":["https://openalex.org/I39553462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078318123","display_name":"Vicente Mut","orcid":"https://orcid.org/0000-0003-2853-0014"},"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":"Vicente Mut","raw_affiliation_strings":["Instituto de Autom\u00e1tica (INAUT). Universidad Nacional de San Juan, Av. Libertador San Mart\u00edn 1109 (oeste) \u2013 J5400ARL, San Juan, Argentina"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Autom\u00e1tica (INAUT). Universidad Nacional de San Juan, Av. Libertador San Mart\u00edn 1109 (oeste) \u2013 J5400ARL, San Juan, Argentina","institution_ids":["https://openalex.org/I39553462"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040062624","display_name":"Fernando di Sciascio","orcid":"https://orcid.org/0000-0002-4382-6289"},"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":"Fernando di Sciascio","raw_affiliation_strings":["Instituto de Autom\u00e1tica (INAUT). Universidad Nacional de San Juan, Av. Libertador San Mart\u00edn 1109 (oeste) \u2013 J5400ARL, San Juan, Argentina"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Autom\u00e1tica (INAUT). Universidad Nacional de San Juan, Av. Libertador San Mart\u00edn 1109 (oeste) \u2013 J5400ARL, San Juan, Argentina","institution_ids":["https://openalex.org/I39553462"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5102730122"],"corresponding_institution_ids":["https://openalex.org/I39553462"],"apc_list":null,"apc_paid":null,"fwci":2.1663,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.88678841,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"29","issue":"3","first_page":"335","last_page":"349"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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/mobile-robot","display_name":"Mobile robot","score":0.7941769361495972},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7563908100128174},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6114150285720825},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5908923745155334},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5810614228248596},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5805791616439819},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5571336150169373},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5530234575271606},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5002498626708984},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42910879850387573},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3537318706512451},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3024214804172516},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2108170986175537}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7941769361495972},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7563908100128174},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6114150285720825},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5908923745155334},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5810614228248596},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5805791616439819},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5571336150169373},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5530234575271606},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5002498626708984},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42910879850387573},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3537318706512451},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3024214804172516},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2108170986175537},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574710000068","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574710000068","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":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7200000286102295}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320875","display_name":"Deutscher Akademischer Austauschdienst","ror":"https://ror.org/039djdh30"},{"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":51,"referenced_works":["https://openalex.org/W128964998","https://openalex.org/W649108059","https://openalex.org/W1202495926","https://openalex.org/W1545748428","https://openalex.org/W1547511169","https://openalex.org/W1571640727","https://openalex.org/W1595578376","https://openalex.org/W1895812186","https://openalex.org/W1977571356","https://openalex.org/W1978300656","https://openalex.org/W2001490061","https://openalex.org/W2010767170","https://openalex.org/W2027007802","https://openalex.org/W2049382554","https://openalex.org/W2057555599","https://openalex.org/W2066165676","https://openalex.org/W2067148590","https://openalex.org/W2093697596","https://openalex.org/W2097346851","https://openalex.org/W2097856935","https://openalex.org/W2099630327","https://openalex.org/W2103408099","https://openalex.org/W2107306424","https://openalex.org/W2107881591","https://openalex.org/W2115990616","https://openalex.org/W2116395169","https://openalex.org/W2118305483","https://openalex.org/W2119120935","https://openalex.org/W2122215083","https://openalex.org/W2128204371","https://openalex.org/W2133754447","https://openalex.org/W2134266794","https://openalex.org/W2138208394","https://openalex.org/W2138905228","https://openalex.org/W2141673182","https://openalex.org/W2163148932","https://openalex.org/W2165413656","https://openalex.org/W2166967570","https://openalex.org/W2498115263","https://openalex.org/W2528940545","https://openalex.org/W2548881617","https://openalex.org/W2600643276","https://openalex.org/W2623660146","https://openalex.org/W3140158754","https://openalex.org/W3150565301","https://openalex.org/W4205937065","https://openalex.org/W4285719527","https://openalex.org/W4301807748","https://openalex.org/W4376502752","https://openalex.org/W6632863267","https://openalex.org/W6639775372"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2020829486","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2016451691","https://openalex.org/W2002488624","https://openalex.org/W2157008402"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1],"novel":[2],"approach":[3],"for":[4],"trajectory":[5],"tracking":[6,109],"of":[7,39,64,71,76,87],"a":[8,40,104],"mobile-robots":[9],"formation":[10,25,32,86,111],"by":[11],"using":[12,72,81],"linear":[13],"algebra":[14],"theory":[15],"and":[16,35,52,55,61,68,97,99,110],"numerical":[17],"methods":[18],"is":[19,28,50,90],"presented":[20],"in":[21,103],"this":[22,82],"paper.":[23],"The":[24,45],"controller":[26,67],"design":[27],"based":[29],"on":[30],"the":[31,36,59,62,65,69,73,77,85,108],"states":[33],"concept":[34],"dynamic":[37,74],"model":[38,75],"unicycle-like":[41],"nonholonomic":[42],"mobile":[43,78,88],"robot.":[44,79],"proposed":[46,66],"control":[47],"law":[48],"designed":[49],"decentralized":[51],"scalable.":[53],"Simulations":[54],"experimental":[56],"results":[57],"confirm":[58],"feasibility":[60],"effectiveness":[63],"advantages":[70],"By":[80],"new":[83],"strategy,":[84],"robots":[89],"able":[91],"to":[92],"change":[93],"its":[94],"configuration":[95],"(shape":[96],"size)":[98],"follow":[100],"different":[101],"trajectories":[102],"precise":[105],"way,":[106],"minimizing":[107],"errors.":[112]},"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":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}