{"id":"https://openalex.org/W2096375985","doi":"https://doi.org/10.1109/acc.2007.4283141","title":"Trajectory Tracking and Stair Climbing Capability Assessment for a Skid-Steered Mobile Robot","display_name":"Trajectory Tracking and Stair Climbing Capability Assessment for a Skid-Steered Mobile Robot","publication_year":2007,"publication_date":"2007-07-01","ids":{"openalex":"https://openalex.org/W2096375985","doi":"https://doi.org/10.1109/acc.2007.4283141","mag":"2096375985"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2007.4283141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2007.4283141","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/A5005199468","display_name":"Chandrakanth Reddy Terupally","orcid":null},"institutions":[{"id":"https://openalex.org/I4210106879","display_name":"Ohio University","ror":"https://ror.org/01jr3y717","country_code":"US","type":"education","lineage":["https://openalex.org/I4210106879"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chandrakanth R. Terupally","raw_affiliation_strings":["School of EECS, Ohio University, USA","OHIO UNIVERSITY ATHENS"],"affiliations":[{"raw_affiliation_string":"School of EECS, Ohio University, USA","institution_ids":["https://openalex.org/I4210106879"]},{"raw_affiliation_string":"OHIO UNIVERSITY ATHENS","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101996609","display_name":"J. Jim Zhu","orcid":"https://orcid.org/0000-0002-8589-2188"},"institutions":[{"id":"https://openalex.org/I4210106879","display_name":"Ohio University","ror":"https://ror.org/01jr3y717","country_code":"US","type":"education","lineage":["https://openalex.org/I4210106879"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.Jim Zhu","raw_affiliation_strings":["School of EECS, Ohio University, USA","School of EECS, Ohio University, email: zhuj@ohio.edu"],"affiliations":[{"raw_affiliation_string":"School of EECS, Ohio University, USA","institution_ids":["https://openalex.org/I4210106879"]},{"raw_affiliation_string":"School of EECS, Ohio University, email: zhuj@ohio.edu","institution_ids":["https://openalex.org/I4210106879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101748639","display_name":"Robert L. Williams","orcid":"https://orcid.org/0000-0003-2078-5100"},"institutions":[{"id":"https://openalex.org/I4210106879","display_name":"Ohio University","ror":"https://ror.org/01jr3y717","country_code":"US","type":"education","lineage":["https://openalex.org/I4210106879"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert L. Williams","raw_affiliation_strings":["Department of Mechanical Engineering, Ohio University, USA","Department of Mechanical Engineering, Ohio University"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Ohio University, USA","institution_ids":["https://openalex.org/I4210106879"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Ohio University","institution_ids":["https://openalex.org/I4210106879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5005199468"],"corresponding_institution_ids":["https://openalex.org/I4210106879"],"apc_list":null,"apc_paid":null,"fwci":0.5492,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56018519,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"2861","last_page":"2866"},"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9991999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7339850664138794},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6667712330818176},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6277459859848022},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6040839552879333},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5198907852172852},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5105770826339722},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4947173297405243},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.48025134205818176},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47806647419929504},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.473691463470459},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4632170796394348},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4125676155090332},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35364967584609985},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33307093381881714},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18152305483818054},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.17608988285064697},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1518857181072235},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08082738518714905}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7339850664138794},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6667712330818176},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6277459859848022},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6040839552879333},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5198907852172852},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5105770826339722},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4947173297405243},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.48025134205818176},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47806647419929504},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.473691463470459},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4632170796394348},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4125676155090332},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35364967584609985},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33307093381881714},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18152305483818054},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.17608988285064697},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1518857181072235},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08082738518714905},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2007.4283141","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2007.4283141","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":19,"referenced_works":["https://openalex.org/W1534966272","https://openalex.org/W1545775168","https://openalex.org/W1589180158","https://openalex.org/W1895481937","https://openalex.org/W2134217361","https://openalex.org/W2138016762","https://openalex.org/W2139706098","https://openalex.org/W2148853660","https://openalex.org/W2150967805","https://openalex.org/W2154919260","https://openalex.org/W2596194761","https://openalex.org/W2605115257","https://openalex.org/W2786106149","https://openalex.org/W6632337878","https://openalex.org/W6632674286","https://openalex.org/W6680238647","https://openalex.org/W6734380115","https://openalex.org/W6735780622","https://openalex.org/W6748696417"],"related_works":["https://openalex.org/W2029973929","https://openalex.org/W2569658007","https://openalex.org/W1979856153","https://openalex.org/W1944921765","https://openalex.org/W1984747563","https://openalex.org/W2523458098","https://openalex.org/W4390936568","https://openalex.org/W655693688","https://openalex.org/W4323768008","https://openalex.org/W2145006118"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"derivation":[3],"of":[4,30,63,80,119,134],"a":[5,14],"trajectory":[6,50,74,99],"tracking":[7,100],"and":[8,42,78],"stair":[9],"climbing":[10],"stabilization":[11],"controller":[12,136],"for":[13,40],"4-wheel":[15],"driven":[16],"skid-steered":[17],"wheeled":[18],"mobile":[19],"robot":[20,23],"(SSWR).":[21],"The":[22],"vehicle":[24,82],"is":[25,54,115,129],"modeled":[26],"with":[27,101,108],"six":[28],"degrees":[29],"freedom":[31],"(6DOF)":[32],"rigid":[33],"body":[34],"equations":[35],"which":[36],"are":[37,70,83],"later":[38],"simplified":[39],"planar":[41],"pitched":[43],"movement.":[44],"An":[45],"efficient":[46],"control":[47,52],"algorithm,":[48],"called":[49],"linearization":[51],"(TLC),":[53],"used":[55,130],"to":[56,131,137],"tackle":[57],"the":[58,64,73,81,90,93,105,135],"challenges":[59],"posed":[60],"by":[61,86],"nonlinearities":[62],"model.":[65],"In":[66],"TLC,":[67],"state":[68],"dynamics":[69,79],"linearized":[71],"along":[72],"being":[75],"tracked.":[76],"Kinematics":[77],"controlled":[84],"individually":[85],"feedback":[87],"loops,":[88],"where":[89],"former":[91],"constitutes":[92],"outermost":[94],"loop.":[95],"Simulation":[96],"results":[97],"promise":[98],"desired":[102],"accuracy.":[103],"For":[104],"test":[106],"prototype":[107],"current":[109],"physical":[110],"configuration,":[111],"an":[112],"upper":[113],"limit":[114],"found":[116],"on":[117],"steepness":[118],"staircase":[120],"it":[121],"can":[122],"safely":[123],"climb.":[124],"3-sigma":[125],"Monte":[126],"Carlo":[127],"analysis":[128],"show":[132],"robustness":[133],"parametric":[138],"perturbations.":[139]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
