{"id":"https://openalex.org/W2762554292","doi":"https://doi.org/10.1109/ccta.2017.8062717","title":"Implementation and experimental evaluation of flexible formation tracking controllers for car-like mobile robots with velocity and steering controllers in the loops","display_name":"Implementation and experimental evaluation of flexible formation tracking controllers for car-like mobile robots with velocity and steering controllers in the loops","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2762554292","doi":"https://doi.org/10.1109/ccta.2017.8062717","mag":"2762554292"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2017.8062717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062717","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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/A5108424373","display_name":"Chang Boon Low","orcid":null},"institutions":[{"id":"https://openalex.org/I28490864","display_name":"DSO National Laboratories","ror":"https://ror.org/03e05fb06","country_code":"SG","type":"nonprofit","lineage":["https://openalex.org/I28490864"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Chang Boon Low","raw_affiliation_strings":["DSO National Laboratories, Singapore"],"affiliations":[{"raw_affiliation_string":"DSO National Laboratories, Singapore","institution_ids":["https://openalex.org/I28490864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5108424373"],"corresponding_institution_ids":["https://openalex.org/I28490864"],"apc_list":null,"apc_paid":null,"fwci":0.5411,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"26","issue":null,"first_page":"1797","last_page":"1804"},"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":0.9994000196456909,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6754803657531738},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6172643899917603},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.598352313041687},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5399304628372192},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5379003286361694},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5355470180511475},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5301588177680969},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.5181735754013062},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.47937896847724915},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.4572460651397705},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26715582609176636},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23628056049346924},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12981164455413818}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6754803657531738},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6172643899917603},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.598352313041687},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5399304628372192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5379003286361694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5355470180511475},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5301588177680969},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.5181735754013062},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.47937896847724915},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.4572460651397705},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26715582609176636},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23628056049346924},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12981164455413818},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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":1,"locations":[{"id":"doi:10.1109/ccta.2017.8062717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062717","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1517023801","https://openalex.org/W1949558822","https://openalex.org/W1978570723","https://openalex.org/W1981826826","https://openalex.org/W1998016832","https://openalex.org/W1998222319","https://openalex.org/W2007479976","https://openalex.org/W2008516441","https://openalex.org/W2044526330","https://openalex.org/W2056460181","https://openalex.org/W2057555599","https://openalex.org/W2080208692","https://openalex.org/W2080442598","https://openalex.org/W2099397914","https://openalex.org/W2112501483","https://openalex.org/W2149012351","https://openalex.org/W2165413656","https://openalex.org/W2414960440","https://openalex.org/W2761631461"],"related_works":["https://openalex.org/W2042038080","https://openalex.org/W2107308837","https://openalex.org/W4249701897","https://openalex.org/W71119328","https://openalex.org/W2147558862","https://openalex.org/W2154502479","https://openalex.org/W2032711426","https://openalex.org/W360452402","https://openalex.org/W4378942199","https://openalex.org/W4247004153"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,6,137],"implementation":[4],"and":[5,13,27,50,121,146,156,189],"experimental":[7],"validation":[8],"of":[9,55,86,99,111,144,163],"a":[10,14,184],"virtual":[11,129],"structure":[12,130],"leader-follower":[15,148],"flexible":[16,36,80],"formation":[17,42,64,81,131,149,172],"tracking":[18,74],"controllers":[19,29,65,114],"for":[20,175],"car-like":[21],"non-holonomic":[22],"mobile":[23,179],"robots":[24,180],"with":[25,124],"velocity":[26],"steering":[28],"in":[30,37,83,91,118,136,153,183,186],"the":[31,38,56,84,92,100,107,112,128,142,147,161,168,176],"loops.":[32],"The":[33,62,109,165],"formations":[34],"are":[35,44],"sense":[39],"that":[40],"their":[41],"configurations":[43],"defined":[45],"based":[46],"on":[47,67],"curvilinear":[48],"longitudinal":[49],"lateral":[51],"relative":[52,60],"separations":[53],"instead":[54],"commonly":[57],"used":[58],"rectilinear":[59],"separations.":[61],"two":[63,113],"leverage":[66],"our":[68],"recently":[69],"developed":[70],"cascaded":[71],"nonlinear":[72],"trajectory":[73],"controller":[75,150],"[19]":[76],"to":[77,141,160,170,181],"attain":[78],"stable":[79],"control":[82,89,103],"presence":[85],"low-level":[87,102],"dynamical":[88,97],"latencies":[90],"loops":[93],"without":[94],"needing":[95],"any":[96],"model":[98],"robots'":[101],"systems":[104,174],"when":[105],"implementing":[106],"controllers.":[108],"performances":[110],"have":[115],"been":[116],"validated":[117],"both":[119,154,187],"simulation":[120],"partial":[122],"experimentations":[123],"satisfactory":[125],"results.":[126],"For":[127],"controller,":[132],"it":[133],"was":[134,151],"experimented":[135],"on-road":[138,155,188],"environment":[139],"up":[140,159],"speed":[143,162],"4.1m/sec,":[145],"tested":[152],"off-road":[157,190],"environments":[158],"4.5m/sec.":[164],"results":[166],"provide":[167],"foundation":[169],"develop":[171],"navigation":[173],"considered":[177],"nonholonomic":[178],"navigate":[182],"team":[185],"environments.":[191]},"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}