{"id":"https://openalex.org/W2000441064","doi":"https://doi.org/10.1017/s0263574711000336","title":"Maximum load determination of nonholonomic mobile manipulator using hierarchical optimal control","display_name":"Maximum load determination of nonholonomic mobile manipulator using hierarchical optimal control","publication_year":2011,"publication_date":"2011-04-26","ids":{"openalex":"https://openalex.org/W2000441064","doi":"https://doi.org/10.1017/s0263574711000336","mag":"2000441064"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574711000336","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574711000336","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/A5002283577","display_name":"M. H. Korayem","orcid":"https://orcid.org/0000-0001-9802-5799"},"institutions":[{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"M. H. Korayem","raw_affiliation_strings":["Robotic Research Laboratory, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Research Laboratory, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran","institution_ids":["https://openalex.org/I67009956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016081735","display_name":"Vahid Azimirad","orcid":"https://orcid.org/0000-0001-9967-1979"},"institutions":[{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"V. Azimirad","raw_affiliation_strings":["Robotic Research Laboratory, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Research Laboratory, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran","institution_ids":["https://openalex.org/I67009956"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067239655","display_name":"H. Vatanjou","orcid":null},"institutions":[{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"H. Vatanjou","raw_affiliation_strings":["Robotic Research Laboratory, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Research Laboratory, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran","institution_ids":["https://openalex.org/I67009956"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109270973","display_name":"A. H. Korayem","orcid":null},"institutions":[{"id":"https://openalex.org/I67009956","display_name":"Iran University of Science and Technology","ror":"https://ror.org/01jw2p796","country_code":"IR","type":"education","lineage":["https://openalex.org/I67009956"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"A. H. Korayem","raw_affiliation_strings":["Robotic Research Laboratory, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Research Laboratory, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran","institution_ids":["https://openalex.org/I67009956"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5002283577"],"corresponding_institution_ids":["https://openalex.org/I67009956"],"apc_list":null,"apc_paid":null,"fwci":1.0464,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.79248319,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"30","issue":"1","first_page":"53","last_page":"65"},"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":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9975000023841858,"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/control-theory","display_name":"Control theory (sociology)","score":0.7152290344238281},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6880258321762085},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.6619664430618286},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5855029821395874},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.5800779461860657},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5135117173194885},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.47931161522865295},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.47774308919906616},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.44032683968544006},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3911254405975342},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.37065356969833374},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33944669365882874},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2742917537689209},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22124174237251282},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20155096054077148},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12074372172355652}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7152290344238281},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6880258321762085},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.6619664430618286},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5855029821395874},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.5800779461860657},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5135117173194885},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.47931161522865295},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.47774308919906616},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.44032683968544006},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3911254405975342},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37065356969833374},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33944669365882874},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2742917537689209},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22124174237251282},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20155096054077148},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12074372172355652},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574711000336","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574711000336","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W608362671","https://openalex.org/W1488696818","https://openalex.org/W2064961696","https://openalex.org/W2068190491","https://openalex.org/W2069731879","https://openalex.org/W2079615424","https://openalex.org/W2083488455","https://openalex.org/W2083899078","https://openalex.org/W2115621646","https://openalex.org/W2150499729","https://openalex.org/W2155191416","https://openalex.org/W2161137845","https://openalex.org/W2167007340","https://openalex.org/W2415991020"],"related_works":["https://openalex.org/W2123635000","https://openalex.org/W2119031662","https://openalex.org/W2103023631","https://openalex.org/W1608873030","https://openalex.org/W2150499729","https://openalex.org/W2544884917","https://openalex.org/W180523562","https://openalex.org/W2970322771","https://openalex.org/W2310228970","https://openalex.org/W1514649577"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1,26],"paper":[2],"presents":[3],"a":[4,43,60,121,177],"new":[5,95],"method":[6,27],"using":[7],"hierarchical":[8,49,62],"optimal":[9,50,133],"control":[10,51,134],"for":[11,30,82,93,166,176],"path":[12],"planning":[13],"and":[14,47,74],"calculating":[15,94,105],"maximum":[16],"allowable":[17],"dynamic":[18],"load":[19,108],"(MADL)":[20],"of":[21,33,45,88,97,159,169],"wheeled":[22],"mobile":[23,178],"manipulator":[24,179],"(WMM).":[25],"is":[28,40,52,59,84,113,182],"useful":[29],"high":[31],"degrees":[32],"freedom":[34],"WMMs.":[35],"First,":[36],"the":[37,65,76,79,101,107,110,127],"overall":[38],"system":[39],"decoupled":[41],"to":[42,136,144],"set":[44],"subsystems,":[46],"then,":[48],"applied":[53],"on":[54,109,162],"them.":[55],"The":[56,86,157],"presented":[57],"algorithm":[58],"two-level":[61],"algorithm.":[63],"In":[64],"first":[66,102],"level,":[67,78],"interaction":[68,98],"terms":[69],"between":[70],"subsystems":[71,83],"are":[72,91,151],"fixed,":[73],"in":[75,100,129,132],"second":[77,89],"optimization":[80],"problem":[81],"solved.":[85],"results":[87],"level":[90],"used":[92],"estimations":[96],"variables":[99],"level.":[103],"For":[104],"MADL,":[106],"end":[111],"effector":[112],"increased":[114],"until":[115],"actuators":[116],"get":[117],"into":[118],"saturation.":[119],"Given":[120],"large-scale":[122],"robot,":[123],"we":[124],"show":[125],"how":[126],"presenting":[128],"distributed":[130],"hierarchy":[131],"helps":[135],"find":[137],"MADL":[138],"fast.":[139],"Also,":[140],"it":[141],"enables":[142],"us":[143],"treat":[145],"with":[146],"complicated":[147],"cost":[148],"functions":[149],"that":[150],"generated":[152],"by":[153],"obstacle":[154],"avoidance":[155],"terms.":[156],"effectiveness":[158],"this":[160],"approach":[161],"simulation":[163],"case":[164],"studies":[165],"different":[167],"types":[168],"WMMs":[170],"as":[171,173],"well":[172],"an":[174],"experiment":[175],"called":[180],"Scout":[181],"shown.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}