{"id":"https://openalex.org/W2957670377","doi":"https://doi.org/10.1109/access.2019.2929022","title":"A Simplified Optimal Path Following Controller for an Agricultural Skid-Steering Robot","display_name":"A Simplified Optimal Path Following Controller for an Agricultural Skid-Steering Robot","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2957670377","doi":"https://doi.org/10.1109/access.2019.2929022","mag":"2957670377"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2929022","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2929022","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08763950.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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://ieeexplore.ieee.org/ielx7/6287639/8600701/08763950.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016098012","display_name":"Benjamin S. Fernandez","orcid":"https://orcid.org/0000-0002-9017-9782"},"institutions":[{"id":"https://openalex.org/I178450904","display_name":"Universidad Nacional de Educaci\u00f3n a Distancia","ror":"https://ror.org/02msb5n36","country_code":"ES","type":"education","lineage":["https://openalex.org/I178450904"]},{"id":"https://openalex.org/I4210165846","display_name":"AGCO (Germany)","ror":"https://ror.org/05vv53n36","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210126500","https://openalex.org/I4210165846"]}],"countries":["DE","ES"],"is_corresponding":true,"raw_author_name":"Benjamin Fernandez","raw_affiliation_strings":["Departamento de Ingenier\u00eda de Software y Sistemas Inform\u00e1ticos, National University of Distance Education, Madrid, Spain","ORCiD","Research and Advanced Engineering, AGCO GmbH, Marktoberdorf, Germany"],"raw_orcid":"https://orcid.org/0000-0002-9017-9782","affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda de Software y Sistemas Inform\u00e1ticos, National University of Distance Education, Madrid, Spain","institution_ids":["https://openalex.org/I178450904"]},{"raw_affiliation_string":"ORCiD","institution_ids":[]},{"raw_affiliation_string":"Research and Advanced Engineering, AGCO GmbH, Marktoberdorf, Germany","institution_ids":["https://openalex.org/I4210165846"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022265705","display_name":"Pedro Javier Herrera","orcid":"https://orcid.org/0000-0001-8679-6617"},"institutions":[{"id":"https://openalex.org/I178450904","display_name":"Universidad Nacional de Educaci\u00f3n a Distancia","ror":"https://ror.org/02msb5n36","country_code":"ES","type":"education","lineage":["https://openalex.org/I178450904"]},{"id":"https://openalex.org/I97750245","display_name":"Software (Spain)","ror":"https://ror.org/02ethns06","country_code":"ES","type":"company","lineage":["https://openalex.org/I4210087817","https://openalex.org/I97750245"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pedro Javier Herrera","raw_affiliation_strings":["Departamento de Ingenier\u00eda de Software y Sistemas Inform\u00e1ticos, National University of Distance Education, Madrid, Spain","ORCiD","Departamento de Ingenier&#x00ED;a de Software y Sistemas Inform&#x00E1;ticos, ETSI Inform\u00e1tica, National University of Distance Education, Madrid, Spain"],"raw_orcid":"https://orcid.org/0000-0001-8679-6617","affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda de Software y Sistemas Inform\u00e1ticos, National University of Distance Education, Madrid, Spain","institution_ids":["https://openalex.org/I178450904"]},{"raw_affiliation_string":"ORCiD","institution_ids":[]},{"raw_affiliation_string":"Departamento de Ingenier&#x00ED;a de Software y Sistemas Inform&#x00E1;ticos, ETSI Inform\u00e1tica, National University of Distance Education, Madrid, Spain","institution_ids":["https://openalex.org/I178450904","https://openalex.org/I97750245"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078177928","display_name":"J.A. Cerrada","orcid":"https://orcid.org/0000-0001-5492-5293"},"institutions":[{"id":"https://openalex.org/I178450904","display_name":"Universidad Nacional de Educaci\u00f3n a Distancia","ror":"https://ror.org/02msb5n36","country_code":"ES","type":"education","lineage":["https://openalex.org/I178450904"]},{"id":"https://openalex.org/I97750245","display_name":"Software (Spain)","ror":"https://ror.org/02ethns06","country_code":"ES","type":"company","lineage":["https://openalex.org/I4210087817","https://openalex.org/I97750245"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jose Antonio Cerrada","raw_affiliation_strings":["Departamento de Ingenier\u00eda de Software y Sistemas Inform\u00e1ticos, National University of Distance Education, Madrid, Spain","Departamento de Ingenier&#x00ED;a de Software y Sistemas Inform&#x00E1;ticos, ETSI Inform\u00e1tica, National University of Distance Education, Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda de Software y Sistemas Inform\u00e1ticos, National University of Distance Education, Madrid, Spain","institution_ids":["https://openalex.org/I178450904"]},{"raw_affiliation_string":"Departamento de Ingenier&#x00ED;a de Software y Sistemas Inform&#x00E1;ticos, ETSI Inform\u00e1tica, National University of Distance Education, Madrid, Spain","institution_ids":["https://openalex.org/I178450904","https://openalex.org/I97750245"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5016098012"],"corresponding_institution_ids":["https://openalex.org/I178450904","https://openalex.org/I4210165846"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.3716,"has_fulltext":true,"cited_by_count":41,"citation_normalized_percentile":{"value":0.92603488,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"95932","last_page":"95940"},"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":0.9987000226974487,"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":0.9987000226974487,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9923999905586243,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/skid","display_name":"Skid (aerodynamics)","score":0.9222205877304077},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7438656091690063},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6863068342208862},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5319796800613403},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5023810863494873},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4766733944416046},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4656781554222107},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4618726074695587},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4597148895263672},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44642093777656555},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.23346596956253052},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19975385069847107},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17723563313484192},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1698642075061798}],"concepts":[{"id":"https://openalex.org/C94296324","wikidata":"https://www.wikidata.org/wiki/Q2234301","display_name":"Skid (aerodynamics)","level":2,"score":0.9222205877304077},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7438656091690063},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6863068342208862},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5319796800613403},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5023810863494873},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4766733944416046},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4656781554222107},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4618726074695587},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4597148895263672},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44642093777656555},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.23346596956253052},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19975385069847107},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17723563313484192},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1698642075061798},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2019.2929022","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2929022","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08763950.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:e-spacio.uned.es:20.500.14468/29821","is_oa":true,"landing_page_url":"https://doi.org/10.1109/ACCESS.2019.2929022.","pdf_url":null,"source":{"id":"https://openalex.org/S7407055166","display_name":"UNED repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":null,"raw_type":"journal article"},{"id":"pmh:oai:doaj.org/article:7b6287fe50234fdaaa6fd5e24fce0e9e","is_oa":true,"landing_page_url":"https://doaj.org/article/7b6287fe50234fdaaa6fd5e24fce0e9e","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"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 7, Pp 95932-95940 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2929022","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2929022","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08763950.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.75,"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2"}],"awards":[{"id":"https://openalex.org/G146716404","display_name":null,"funder_award_id":"S2018/NMT-4331","funder_id":"https://openalex.org/F4320313831","funder_display_name":"Comunidad de Madrid"},{"id":"https://openalex.org/G6029909435","display_name":null,"funder_award_id":"AGL2017-83325-C4-3-R","funder_id":"https://openalex.org/F4320321837","funder_display_name":"Ministerio de Econom\u00eda y Competitividad"},{"id":"https://openalex.org/G6130075214","display_name":null,"funder_award_id":"AGL2017","funder_id":"https://openalex.org/F4320321837","funder_display_name":"Ministerio de Econom\u00eda y Competitividad"},{"id":"https://openalex.org/G7811973622","display_name":null,"funder_award_id":"DPI2016-77677-P","funder_id":"https://openalex.org/F4320321837","funder_display_name":"Ministerio de Econom\u00eda y Competitividad"}],"funders":[{"id":"https://openalex.org/F4320313831","display_name":"Comunidad de Madrid","ror":null},{"id":"https://openalex.org/F4320321837","display_name":"Ministerio de Econom\u00eda y Competitividad","ror":"https://ror.org/034900433"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2957670377.pdf","grobid_xml":"https://content.openalex.org/works/W2957670377.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1510558240","https://openalex.org/W1552300625","https://openalex.org/W1558979968","https://openalex.org/W1895481937","https://openalex.org/W1916484883","https://openalex.org/W1985261374","https://openalex.org/W2020249227","https://openalex.org/W2021028598","https://openalex.org/W2024354038","https://openalex.org/W2027162577","https://openalex.org/W2040606198","https://openalex.org/W2059750403","https://openalex.org/W2071473360","https://openalex.org/W2080706284","https://openalex.org/W2081128945","https://openalex.org/W2081423991","https://openalex.org/W2101850657","https://openalex.org/W2122128241","https://openalex.org/W2134349615","https://openalex.org/W2142111022","https://openalex.org/W2142194205","https://openalex.org/W2150695816","https://openalex.org/W2154844948","https://openalex.org/W2165918950","https://openalex.org/W2183483976","https://openalex.org/W2496208109","https://openalex.org/W2551773494","https://openalex.org/W2570229872","https://openalex.org/W2788778467","https://openalex.org/W2794762188","https://openalex.org/W2885588033","https://openalex.org/W2910230606","https://openalex.org/W4240865826","https://openalex.org/W4243603156","https://openalex.org/W6630523527","https://openalex.org/W6660633884","https://openalex.org/W6686158868"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966","https://openalex.org/W2791791851"],"abstract_inverted_index":{"The":[0],"dynamics":[1],"of":[2,15,53,57,66],"a":[3,16,18,37],"skid-steering":[4,79],"robot":[5,80],"present":[6],"intrinsic":[7],"non-linearities":[8],"that":[9],"make":[10],"the":[11,51,54,64],"design":[12],"and":[13,23,44,73],"implementation":[14],"controller":[17],"very":[19],"complex":[20],"task,":[21],"time-consuming,":[22],"difficult":[24],"to":[25,62],"implement":[26],"into":[27],"an":[28,45,77],"embedded":[29],"system":[30],"with":[31,76,83],"limited":[32],"resources.":[33],"This":[34],"paper":[35],"presents":[36],"simplified":[38],"first":[39],"order":[40,61],"digital":[41],"model":[42],"approximation":[43],"optimal":[46],"observer-based":[47],"control":[48],"approach":[49],"for":[50],"tracking":[52],"lateral":[55],"position":[56],"such":[58],"robots.":[59],"In":[60],"verify":[63],"validity":[65],"this":[67],"proposal,":[68],"3D":[69],"real-time":[70],"interactive":[71],"simulations":[72],"real":[74],"validations":[75],"agricultural":[78],"were":[81],"performed":[82],"satisfactory":[84],"results.":[85]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-05-20T08:49:12.498775","created_date":"2025-10-10T00:00:00"}
