{"id":"https://openalex.org/W2148215456","doi":"https://doi.org/10.1017/s0263574710000317","title":"A numerical control algorithm for navigation of an operator-driven snake-like robot with 4WD-4WS segments","display_name":"A numerical control algorithm for navigation of an operator-driven snake-like robot with 4WD-4WS segments","publication_year":2010,"publication_date":"2010-07-21","ids":{"openalex":"https://openalex.org/W2148215456","doi":"https://doi.org/10.1017/s0263574710000317","mag":"2148215456"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574710000317","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574710000317","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/A5061543115","display_name":"Andrew Percy","orcid":null},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Andrew Percy","raw_affiliation_strings":["School of Applied Science and Engineering, Monash University, Churchill, VIC 3842, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Applied Science and Engineering, Monash University, Churchill, VIC 3842, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090031779","display_name":"I. J. Spark","orcid":"https://orcid.org/0000-0002-9727-6294"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ian Spark","raw_affiliation_strings":["Gippsland Regional Automation Centre, Monash University, Churchill, VIC 3842, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Gippsland Regional Automation Centre, Monash University, Churchill, VIC 3842, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110254255","display_name":"Yousef Ibrahim","orcid":null},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Yousef Ibrahim","raw_affiliation_strings":["School of Applied Science and Engineering, Monash University, Churchill, VIC 3842, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Applied Science and Engineering, Monash University, Churchill, VIC 3842, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028835891","display_name":"Leon Hardy","orcid":null},"institutions":[{"id":"https://openalex.org/I75821886","display_name":"University of South Florida St. Petersburg","ror":"https://ror.org/016gp6x28","country_code":"US","type":"education","lineage":["https://openalex.org/I75821886"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leon Hardy","raw_affiliation_strings":["Department of Physics, University of South Florida, St. Petersburg, FL 33701, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Physics, University of South Florida, St. Petersburg, FL 33701, USA","institution_ids":["https://openalex.org/I75821886"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5061543115"],"corresponding_institution_ids":["https://openalex.org/I56590836"],"apc_list":null,"apc_paid":null,"fwci":1.4442,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.86515972,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"29","issue":"3","first_page":"471","last_page":"482"},"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":0.9987000226974487,"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/T10868","display_name":"Soft Robotics and Applications","score":0.996399998664856,"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/curvature","display_name":"Curvature","score":0.740147590637207},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.7066237926483154},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6159281134605408},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5697497725486755},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.5268755555152893},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5135579109191895},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45282986760139465},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4252765476703644},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3429449498653412},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3415919542312622},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25824156403541565},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.22834786772727966},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22560501098632812}],"concepts":[{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.740147590637207},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7066237926483154},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6159281134605408},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5697497725486755},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.5268755555152893},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5135579109191895},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45282986760139465},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4252765476703644},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3429449498653412},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3415919542312622},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25824156403541565},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.22834786772727966},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22560501098632812},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1017/s0263574710000317","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574710000317","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:dspace.nelson.usf.edu:10806/3528","is_oa":false,"landing_page_url":"https://login.ezproxy.lib.usf.edu/login?url=http://journals.cambridge.org/action/displayFulltext?type=1&pdftype=1&fid=8238336&jid=ROB&volumeId=29&issueId=03&aid=8238334","pdf_url":null,"source":{"id":"https://openalex.org/S4306401175","display_name":"Digital Archive @ University of South Florida (University of South Florida)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2613432","host_organization_name":"University of South Florida","host_organization_lineage":["https://openalex.org/I2613432"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:vital:7087","is_oa":false,"landing_page_url":"http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/73636","pdf_url":null,"source":{"id":"https://openalex.org/S4306400234","display_name":"FedUni ResearchOnline (Federation University Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210158496","host_organization_name":"Australian Federation of University Women \u2013 South Australia","host_organization_lineage":["https://openalex.org/I4210158496"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1680904659","https://openalex.org/W1943877163","https://openalex.org/W1975372876","https://openalex.org/W1978300656","https://openalex.org/W2023153799","https://openalex.org/W2033910955","https://openalex.org/W2053581276","https://openalex.org/W2060326531","https://openalex.org/W2064192783","https://openalex.org/W2116228616","https://openalex.org/W2118879643","https://openalex.org/W2147767063","https://openalex.org/W2149012351","https://openalex.org/W2154524458","https://openalex.org/W2154859766","https://openalex.org/W2158846987","https://openalex.org/W2165919374","https://openalex.org/W2181002973","https://openalex.org/W3147639870","https://openalex.org/W4236170478"],"related_works":["https://openalex.org/W1538624230","https://openalex.org/W2978499776","https://openalex.org/W2066416030","https://openalex.org/W2026800644","https://openalex.org/W2964046450","https://openalex.org/W2044940020","https://openalex.org/W4200380753","https://openalex.org/W2147653242","https://openalex.org/W2399776788","https://openalex.org/W2045787581"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2,83],"presents":[3],"a":[4,11,40,88,94,122],"new":[5],"algorithm":[6,30,79],"for":[7,93,121],"the":[8,32,43,60,70,104],"control":[9],"of":[10,46,106],"snake-like":[12],"robot":[13],"with":[14,48],"passive":[15],"joints":[16],"and":[17,26,73,109,118,125],"active":[18],"wheels.":[19,28],"Each":[20,54],"segment":[21,41,127],"has":[22],"four":[23],"autonomously":[24],"driven":[25],"steered":[27],"The":[29,77],"approximates":[31],"ideal":[33],"solution":[34,92],"in":[35,81],"which":[36,63],"all":[37],"wheels":[38],"on":[39,113],"have":[42],"same":[44,61],"centre":[45],"curvature":[47,72,108],"wheel":[49,116,119],"speeds,":[50],"providing":[51],"cooperative":[52],"redundancy.":[53],"hitch":[55,75,111,114],"point":[56],"joining":[57],"segments":[58],"traverses":[59],"path,":[62,115],"is":[64,84],"determined":[65],"by":[66],"an":[67],"operator,":[68],"prescribing":[69],"path":[71],"front":[74,110],"speed.":[76],"numerical":[78],"developed":[80],"this":[82],"simulation":[85],"tested":[86],"against":[87],"previously":[89],"derived":[90],"analytical":[91],"predetermined":[95],"path.":[96],"Further":[97],"simulations":[98],"are":[99],"carried":[100],"out":[101],"to":[102],"show":[103],"effects":[105],"changing":[107],"speed":[112],"angles":[117],"speeds":[120],"one,":[123],"two":[124],"three":[126],"robot.":[128]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2016-06-24T00:00:00"}