{"id":"https://openalex.org/W1548916848","doi":"https://doi.org/10.1023/a:1012060516299","title":"Motion Planning for Drift-Free Nonholonomic Systems under a Discrete Levels Control Constraint","display_name":"Motion Planning for Drift-Free Nonholonomic Systems under a Discrete Levels Control Constraint","publication_year":2001,"publication_date":"2001-09-01","ids":{"openalex":"https://openalex.org/W1548916848","doi":"https://doi.org/10.1023/a:1012060516299","mag":"1548916848"},"language":"en","primary_location":{"id":"doi:10.1023/a:1012060516299","is_oa":false,"landing_page_url":"https://doi.org/10.1023/a:1012060516299","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and Robotic Systems","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/A5013315454","display_name":"Photis G. Skiadas","orcid":null},"institutions":[{"id":"https://openalex.org/I174878644","display_name":"University of Patras","ror":"https://ror.org/017wvtq80","country_code":"GR","type":"education","lineage":["https://openalex.org/I174878644"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Photis G. Skiadas","raw_affiliation_strings":["Laboratory for Automation and Robotics, Electrical and Computer Engineering Department, University of Patras, Rio Patras, 265 00, Greece","Laboratory for Automation and Robotics, Electrical and Computer Engineering Department, University of Patras, Rio Patras 265 00, Greece; e-mail: skiadas@ee.upatras.gr#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Automation and Robotics, Electrical and Computer Engineering Department, University of Patras, Rio Patras, 265 00, Greece","institution_ids":["https://openalex.org/I174878644"]},{"raw_affiliation_string":"Laboratory for Automation and Robotics, Electrical and Computer Engineering Department, University of Patras, Rio Patras 265 00, Greece; e-mail: skiadas@ee.upatras.gr#TAB#","institution_ids":["https://openalex.org/I174878644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5105470004","display_name":"Nick T. Koussoulas","orcid":null},"institutions":[{"id":"https://openalex.org/I174878644","display_name":"University of Patras","ror":"https://ror.org/017wvtq80","country_code":"GR","type":"education","lineage":["https://openalex.org/I174878644"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Nick T. Koussoulas","raw_affiliation_strings":["Laboratory for Automation and Robotics, Electrical and Computer Engineering Department, University of Patras, Rio Patras, 265 00, Greece","Laboratory for Automation and Robotics, Electrical and Computer Engineering Department, University of Patras, Rio Patras 265 00, Greece; e-mail: ntk@ee.upatras.gr#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Automation and Robotics, Electrical and Computer Engineering Department, University of Patras, Rio Patras, 265 00, Greece","institution_ids":["https://openalex.org/I174878644"]},{"raw_affiliation_string":"Laboratory for Automation and Robotics, Electrical and Computer Engineering Department, University of Patras, Rio Patras 265 00, Greece; e-mail: ntk@ee.upatras.gr#TAB#","institution_ids":["https://openalex.org/I174878644"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I174878644"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":null,"fwci":1.1564,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.82993499,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"32","issue":"1","first_page":"55","last_page":"74"},"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":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9943000078201294,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.7094689011573792},{"id":"https://openalex.org/keywords/nilpotent","display_name":"Nilpotent","score":0.6360911130905151},{"id":"https://openalex.org/keywords/cardinality","display_name":"Cardinality (data modeling)","score":0.6326918005943298},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6247872710227966},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.5811355113983154},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5721880197525024},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5219668745994568},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5211451053619385},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5053041577339172},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47133445739746094},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3991783857345581},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3849218487739563},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3310944139957428},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18900585174560547},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17674344778060913},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.12194472551345825}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7094689011573792},{"id":"https://openalex.org/C50555996","wikidata":"https://www.wikidata.org/wiki/Q840023","display_name":"Nilpotent","level":2,"score":0.6360911130905151},{"id":"https://openalex.org/C87117476","wikidata":"https://www.wikidata.org/wiki/Q362383","display_name":"Cardinality (data modeling)","level":2,"score":0.6326918005943298},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6247872710227966},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5811355113983154},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5721880197525024},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5219668745994568},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5211451053619385},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5053041577339172},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47133445739746094},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3991783857345581},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3849218487739563},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3310944139957428},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18900585174560547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17674344778060913},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.12194472551345825},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1023/a:1012060516299","is_oa":false,"landing_page_url":"https://doi.org/10.1023/a:1012060516299","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.75}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1498792794","https://openalex.org/W1564897360","https://openalex.org/W2010704362","https://openalex.org/W2120944681","https://openalex.org/W2145076589","https://openalex.org/W2160285273","https://openalex.org/W3217246742","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W132936156","https://openalex.org/W2020829486","https://openalex.org/W2383775285","https://openalex.org/W1904098742","https://openalex.org/W2016451691","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514"],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2016-06-24T00:00:00"}