{"id":"https://openalex.org/W2104513543","doi":"https://doi.org/10.1109/acc.2007.4282557","title":"Vision-Based Leader/Follower Tracking for Nonholonomic Mobile Robots","display_name":"Vision-Based Leader/Follower Tracking for Nonholonomic Mobile Robots","publication_year":2007,"publication_date":"2007-07-01","ids":{"openalex":"https://openalex.org/W2104513543","doi":"https://doi.org/10.1109/acc.2007.4282557","mag":"2104513543"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2007.4282557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2007.4282557","pdf_url":null,"source":{"id":"https://openalex.org/S4210168941","display_name":"Proceedings of the ... American Control Conference/Proceedings of the American Control Conference","issn_l":"0743-1619","issn":["0743-1619","2378-5861"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 American Control Conference","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/A5065870270","display_name":"Hariprasad Kannan","orcid":null},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hariprasad Kannan","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA","Clemson University, Clemson,"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]},{"raw_affiliation_string":"Clemson University, Clemson,","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070537578","display_name":"Vilas K. Chitrakaran","orcid":null},"institutions":[{"id":"https://openalex.org/I4210115875","display_name":"Oliver Crispin Robotics (United Kingdom)","ror":"https://ror.org/02h1gvb73","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210115875"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Vilas K. Chitrakaran","raw_affiliation_strings":["OC Robotics Limited, Bristol, UK","OC Robotics, Bristol, BS34 7JU, UK"],"affiliations":[{"raw_affiliation_string":"OC Robotics Limited, Bristol, UK","institution_ids":["https://openalex.org/I4210115875"]},{"raw_affiliation_string":"OC Robotics, Bristol, BS34 7JU, UK","institution_ids":["https://openalex.org/I4210115875","https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113630271","display_name":"Darren M. Dawson","orcid":null},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Darren M. Dawson","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA","Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634 USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]},{"raw_affiliation_string":"Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634 USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081813293","display_name":"Timothy C. Burg","orcid":"https://orcid.org/0000-0003-0019-8910"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Timothy Burg","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA","Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634 USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]},{"raw_affiliation_string":"Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634 USA","institution_ids":["https://openalex.org/I8078737"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5065870270"],"corresponding_institution_ids":["https://openalex.org/I8078737"],"apc_list":null,"apc_paid":null,"fwci":1.5813,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.82741778,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2159","last_page":"2164"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9980999827384949,"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":0.995199978351593,"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/computer-vision","display_name":"Computer vision","score":0.7253704071044922},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7033363580703735},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6777429580688477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6133426427841187},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5334594249725342},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5289238691329956},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5119439363479614},{"id":"https://openalex.org/keywords/homography","display_name":"Homography","score":0.4996068477630615},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47937801480293274},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.47663959860801697},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46216344833374023},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4597042500972748},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4501148462295532},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4447340965270996},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4407607316970825},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36827677488327026},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22941532731056213},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07083114981651306},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.06397062540054321}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7253704071044922},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7033363580703735},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6777429580688477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6133426427841187},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5334594249725342},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5289238691329956},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5119439363479614},{"id":"https://openalex.org/C28751775","wikidata":"https://www.wikidata.org/wiki/Q2112539","display_name":"Homography","level":4,"score":0.4996068477630615},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47937801480293274},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.47663959860801697},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46216344833374023},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4597042500972748},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4501148462295532},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4447340965270996},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4407607316970825},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36827677488327026},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22941532731056213},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07083114981651306},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.06397062540054321},{"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},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C177846678","wikidata":"https://www.wikidata.org/wiki/Q1501864","display_name":"Projective test","level":2,"score":0.0},{"id":"https://openalex.org/C75280867","wikidata":"https://www.wikidata.org/wiki/Q877775","display_name":"Projective space","level":3,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2007.4282557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2007.4282557","pdf_url":null,"source":{"id":"https://openalex.org/S4210168941","display_name":"Proceedings of the ... American Control Conference/Proceedings of the American Control Conference","issn_l":"0743-1619","issn":["0743-1619","2378-5861"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 American Control Conference","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":21,"referenced_works":["https://openalex.org/W108103840","https://openalex.org/W170220620","https://openalex.org/W1496777766","https://openalex.org/W1566253493","https://openalex.org/W1575596356","https://openalex.org/W1606260480","https://openalex.org/W2090167557","https://openalex.org/W2097671019","https://openalex.org/W2106129306","https://openalex.org/W2120854777","https://openalex.org/W2123998235","https://openalex.org/W2129311963","https://openalex.org/W2131287728","https://openalex.org/W2147928602","https://openalex.org/W2159327080","https://openalex.org/W2164109473","https://openalex.org/W2165413656","https://openalex.org/W3022352042","https://openalex.org/W6610537769","https://openalex.org/W6629617714","https://openalex.org/W6776689895"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W4313151434","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2020829486","https://openalex.org/W2016451691","https://openalex.org/W2402852349"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,6,13],"strategy":[4],"for":[5],"nonholonomic":[7],"mobile":[8],"robot":[9],"to":[10,30],"autonomously":[11],"follow":[12],"target":[14],"based":[15,46],"on":[16,47],"vision":[17],"information":[18,36],"from":[19,37],"an":[20],"onboard":[21],"pan":[22],"camera":[23,40],"unit":[24],"(PCU).":[25],"Homography-based":[26],"techniques":[27],"are":[28],"used":[29],"obtain":[31],"relative":[32],"position":[33],"and":[34],"orientation":[35],"the":[38,48],"monocular":[39],"images.":[41],"The":[42],"proposed":[43],"kinematic":[44],"controller,":[45],"Lyapunov":[49],"method,":[50],"achieves":[51],"uniform":[52],"ultimately":[53],"bounded":[54],"(UUB)":[55],"tracking.":[56]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}