{"id":"https://openalex.org/W2803494160","doi":"https://doi.org/10.1109/access.2018.2835836","title":"On the Robustness and Reliability in the Pose Deformation System of Mobile Robots","display_name":"On the Robustness and Reliability in the Pose Deformation System of Mobile Robots","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2803494160","doi":"https://doi.org/10.1109/access.2018.2835836","mag":"2803494160"},"language":"en","primary_location":{"id":"doi:10.1109/access.2018.2835836","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2835836","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2018.2835836","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101456416","display_name":"Jingjing Cui","orcid":"https://orcid.org/0000-0003-3944-5747"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jingjing Cui","raw_affiliation_strings":["Beihang University, Beijing, CN"],"affiliations":[{"raw_affiliation_string":"Beihang University, Beijing, CN","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059018580","display_name":"Shengkui Zeng","orcid":"https://orcid.org/0000-0002-2857-4626"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengkui Zeng","raw_affiliation_strings":["Beihang University, Beijing, CN"],"affiliations":[{"raw_affiliation_string":"Beihang University, Beijing, CN","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075486968","display_name":"Yi Ren","orcid":"https://orcid.org/0000-0002-3665-700X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Ren","raw_affiliation_strings":["Beihang University, Beijing, CN"],"affiliations":[{"raw_affiliation_string":"Beihang University, Beijing, CN","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100664514","display_name":"Xinyuan Chen","orcid":"https://orcid.org/0000-0003-2154-1706"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyuan Chen","raw_affiliation_strings":["Beihang University, Beijing, CN"],"affiliations":[{"raw_affiliation_string":"Beihang University, Beijing, CN","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102994363","display_name":"Zhiqiang Gao","orcid":"https://orcid.org/0000-0003-1917-8311"},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhiqiang Gao","raw_affiliation_strings":["Cleveland State University, Cleveland, OH, US"],"affiliations":[{"raw_affiliation_string":"Cleveland State University, Cleveland, OH, US","institution_ids":["https://openalex.org/I102607778"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101456416"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.7482,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.7175491,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"6","issue":null,"first_page":"29747","last_page":"29756"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9987000226974487,"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":0.9983000159263611,"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/robustness","display_name":"Robustness (evolution)","score":0.8150451183319092},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7364009618759155},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6958588361740112},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5809254050254822},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.490085244178772},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48647448420524597},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.4836467504501343}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8150451183319092},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7364009618759155},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6958588361740112},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5809254050254822},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.490085244178772},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48647448420524597},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.4836467504501343},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2018.2835836","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2835836","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ed1140fad2c0401585bdd730ba8407a0","is_oa":true,"landing_page_url":"https://doaj.org/article/ed1140fad2c0401585bdd730ba8407a0","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 6, Pp 29747-29756 (2018)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2018.2835836","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2835836","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W609899674","https://openalex.org/W1516127453","https://openalex.org/W1738827650","https://openalex.org/W1968459980","https://openalex.org/W1990459095","https://openalex.org/W2019211421","https://openalex.org/W2019277616","https://openalex.org/W2036449758","https://openalex.org/W2041546519","https://openalex.org/W2064921653","https://openalex.org/W2065036156","https://openalex.org/W2086075244","https://openalex.org/W2110204796","https://openalex.org/W2135493101","https://openalex.org/W2210004859","https://openalex.org/W2224455356","https://openalex.org/W2278368300","https://openalex.org/W2279090918","https://openalex.org/W2291466473","https://openalex.org/W2317934000","https://openalex.org/W2335439433","https://openalex.org/W2343278418","https://openalex.org/W2346663957","https://openalex.org/W2417591378","https://openalex.org/W2428922918","https://openalex.org/W2465514524","https://openalex.org/W2472476676","https://openalex.org/W2521299427","https://openalex.org/W2546528656","https://openalex.org/W2561952445","https://openalex.org/W2563480955","https://openalex.org/W2587804202","https://openalex.org/W6729409051"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W4281727072","https://openalex.org/W2560201613","https://openalex.org/W3154990682","https://openalex.org/W2171975302","https://openalex.org/W2022352247","https://openalex.org/W1532073221","https://openalex.org/W2377538627","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"A":[0,16],"major":[1],"vulnerability":[2],"of":[3,51,94,150,158,166],"mobile":[4],"robots":[5],"operating":[6],"in":[7,13,21,70,91,110,116,129,140,155],"more":[8],"environments":[9],"is":[10,19,45,64,108,137,169],"their":[11],"fragility":[12],"facing":[14],"disturbances.":[15],"two-fold":[17],"solution":[18,101,136],"proposed":[20,109,135],"this":[22,111],"paper.":[23],"First,":[24],"a":[25,41,100],"deformable":[26],"structure":[27],"was":[28,153],"designed":[29],"to":[30,34,36,47,66],"reduce":[31],"turbulence":[32],"and":[33,73,75,118,120,126,143,160,163],"adapt":[35],"the":[37,49,52,58,61,76,92,130,141,144,151,156,164,167,173],"uneven":[38],"ground.":[39],"Second,":[40],"novel":[42],"control":[43,107],"strategy":[44],"employed":[46],"avoid":[48],"limitations":[50],"existing":[53,59],"methods.":[54],"In":[55],"particular,":[56],"among":[57],"solutions,":[60],"PID":[62],"controller":[63],"known":[65],"be":[67,87],"severely":[68],"limited":[69],"handling":[71],"disturbances":[72,159],"failures":[74,128,176],"model-based":[77],"designs":[78],"all":[79],"require":[80],"detailed":[81],"mathematical":[82],"model,":[83],"which":[84],"may":[85],"not":[86],"readily":[88],"available,":[89],"especially":[90],"case":[93],"failures.":[95],"To":[96],"address":[97],"these":[98],"issues,":[99],"based":[102],"on":[103],"active":[104],"disturbance":[105],"rejection":[106],"paper,":[112],"for":[113],"its":[114,121],"simplicity":[115],"design":[117],"tuning":[119],"robustness":[122],"against":[123],"parameter":[124],"variations":[125],"even":[127],"pose":[131],"deformation":[132],"system.":[133],"The":[134,148],"systematically":[138],"validated":[139],"simulation,":[142],"results":[145],"are":[146],"promising.":[147],"performance":[149],"system":[152],"maintained":[154],"presence":[157],"uncertain":[161],"dynamics,":[162],"reliability":[165],"robot":[168],"considerably":[170],"improved":[171],"when":[172],"unknown":[174],"leg":[175],"occurred.":[177]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}