{"id":"https://openalex.org/W2080671898","doi":"https://doi.org/10.1109/acc.2002.1025398","title":"Near-identity diffeomorphisms and exponential /spl epsi/-tracking and /spl epsi/-stabilization of first-order nonholonomic SE(2) vehicles","display_name":"Near-identity diffeomorphisms and exponential /spl epsi/-tracking and /spl epsi/-stabilization of first-order nonholonomic SE(2) vehicles","publication_year":2002,"publication_date":"2002-01-01","ids":{"openalex":"https://openalex.org/W2080671898","doi":"https://doi.org/10.1109/acc.2002.1025398","mag":"2080671898"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2002.1025398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2002.1025398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)","raw_type":"proceedings-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/A5046949407","display_name":"Reza Olfati\u2010Saber","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"R. Olfati-Saber","raw_affiliation_strings":["Control and Dynamical Systems Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA","[Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Control and Dynamical Systems Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"[Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA]","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5046949407"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.12359592,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4690","last_page":"4695 vol.6"},"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":0.9912999868392944,"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/T12396","display_name":"Advanced Differential Equations and Dynamical Systems","score":0.965499997138977,"subfield":{"id":"https://openalex.org/subfields/2608","display_name":"Geometry and Topology"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.840408205986023},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7280570268630981},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5746096968650818},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5627303719520569},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.5530781745910645},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5131350159645081},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5097612738609314},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5035826563835144},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.44838711619377136},{"id":"https://openalex.org/keywords/exponential-function","display_name":"Exponential function","score":0.44523459672927856},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4377763271331787},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.41703566908836365},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2843281030654907},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24853813648223877},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22973984479904175},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.14488893747329712},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12110531330108643},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11736968159675598},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09589651226997375},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06117197871208191},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.05774673819541931}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.840408205986023},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7280570268630981},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5746096968650818},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5627303719520569},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.5530781745910645},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5131350159645081},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5097612738609314},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5035826563835144},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.44838711619377136},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.44523459672927856},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4377763271331787},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.41703566908836365},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2843281030654907},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24853813648223877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22973984479904175},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.14488893747329712},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12110531330108643},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11736968159675598},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09589651226997375},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06117197871208191},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.05774673819541931},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2002.1025398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2002.1025398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1511409863","https://openalex.org/W1542776304","https://openalex.org/W1559327333","https://openalex.org/W1632338952","https://openalex.org/W1826072041","https://openalex.org/W2033699235","https://openalex.org/W2050439892","https://openalex.org/W2079121704","https://openalex.org/W2089592749","https://openalex.org/W2092524357","https://openalex.org/W2104929776","https://openalex.org/W2108674204","https://openalex.org/W2133361850","https://openalex.org/W2150973521","https://openalex.org/W2160680975"],"related_works":["https://openalex.org/W1998462347","https://openalex.org/W2349527210","https://openalex.org/W1836713364","https://openalex.org/W2020829486","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2016451691","https://openalex.org/W4300511988","https://openalex.org/W130230158","https://openalex.org/W2165424018"],"abstract_inverted_index":{"In":[0],"this":[1,41],"paper,":[2],"we":[3],"address":[4],"/spl":[5,8,51,54,86],"epsi/-tracking":[6,55],"and":[7,53],"epsi/-stabilization":[9,52],"for":[10,58],"a":[11,23,66,89],"class":[12,24,61],"of":[13,25,36,40,62,88],"SE(2)":[14],"autonomous":[15],"vehicles":[16,64],"with":[17],"first-order":[18],"nonholonomic":[19,90],"constrains.":[20],"We":[21,81],"introduce":[22],"transformations":[26],"called":[27],"near-identity":[28],"diffeomorphisms":[29],"that":[30],"allow":[31],"dynamic":[32,68],"partial":[33],"feedback":[34,72],"linearization":[35],"the":[37,59,78],"translational":[38],"dynamics":[39],"planar":[42,63],"vehicle.":[43],"This":[44,71],"allows":[45],"us":[46],"to":[47,85],"achieve":[48],"global":[49],"exponential":[50],"(in":[56],"position)":[57],"aforementioned":[60],"using":[65],"coordinate-independent":[67],"state":[69],"feedback.":[70],"law":[73],"is":[74],"only":[75],"discontinuous":[76],"w.r.t.":[77],"augmented":[79],"state.":[80],"apply":[82],"our":[83],"results":[84],"epsi/-stabilization/tracking":[87],"mobile":[91],"robot.":[92]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-01-15T23:16:33.117629","created_date":"2025-10-10T00:00:00"}
