{"id":"https://openalex.org/W2899143073","doi":"https://doi.org/10.1109/ccta.2018.8511542","title":"VFO Path Following Control Strategy for Constrained Motion of Car-Like Robots with Invariant Funnels Computed Using the SOS Optimization","display_name":"VFO Path Following Control Strategy for Constrained Motion of Car-Like Robots with Invariant Funnels Computed Using the SOS Optimization","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2899143073","doi":"https://doi.org/10.1109/ccta.2018.8511542","mag":"2899143073"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2018.8511542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2018.8511542","pdf_url":null,"source":{"id":"https://openalex.org/S4306498315","display_name":"2018 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":"2018 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/A5077930860","display_name":"Tomasz Gawron","orcid":"https://orcid.org/0000-0003-0975-6077"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Tomasz Gawron","raw_affiliation_strings":["Institute of Automation and Robotics, Pozna\u0144 University of Technology (PUT), Pozna\u0144, Poland"],"affiliations":[{"raw_affiliation_string":"Institute of Automation and Robotics, Pozna\u0144 University of Technology (PUT), Pozna\u0144, Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033779541","display_name":"Maciej Marcin Micha\u0142ek","orcid":"https://orcid.org/0000-0002-9953-703X"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Maciej Marcin Michalek","raw_affiliation_strings":["Institute of Automation and Robotics, Pozna\u0144 University of Technology (PUT), Pozna\u0144, Poland"],"affiliations":[{"raw_affiliation_string":"Institute of Automation and Robotics, Pozna\u0144 University of Technology (PUT), Pozna\u0144, Poland","institution_ids":["https://openalex.org/I46597724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5077930860"],"corresponding_institution_ids":["https://openalex.org/I46597724"],"apc_list":null,"apc_paid":null,"fwci":0.1204,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.46409473,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"pp","issue":null,"first_page":"94","last_page":"100"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9988999962806702,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9965000152587891,"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/robot","display_name":"Robot","score":0.5844293832778931},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5622654557228088},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5505636930465698},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5304661989212036},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.511893630027771},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.47626993060112},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43421271443367004},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4109104871749878},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3156333565711975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2694130837917328},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.06469601392745972}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5844293832778931},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5622654557228088},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5505636930465698},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5304661989212036},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.511893630027771},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.47626993060112},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43421271443367004},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4109104871749878},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3156333565711975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2694130837917328},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.06469601392745972},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccta.2018.8511542","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2018.8511542","pdf_url":null,"source":{"id":"https://openalex.org/S4306498315","display_name":"2018 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":"2018 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.47999998927116394,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2000194319","https://openalex.org/W2083802276","https://openalex.org/W2097833421","https://openalex.org/W2109791194","https://openalex.org/W2130601649","https://openalex.org/W2132714442","https://openalex.org/W2149845256","https://openalex.org/W2170304637","https://openalex.org/W2209564725","https://openalex.org/W2468927877","https://openalex.org/W2536620281","https://openalex.org/W2582343125","https://openalex.org/W2752239373","https://openalex.org/W3105892364","https://openalex.org/W6786276401"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2359600231","https://openalex.org/W4292862729","https://openalex.org/W2380019117","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"In":[0,86],"practical":[1],"applications":[2],"of":[3,13,46,68,73,78,117,146,155,184,201],"mobile":[4],"robots":[5,107],"it":[6],"is":[7,54,173],"hard":[8],"to":[9,19,105,140,152,187],"guarantee":[10,29],"perfect":[11],"tracking":[12],"a":[14,43,51,71,74,115,119,124,156,168,185,202,206,216],"planned":[15],"robot":[16,37,52,204],"path":[17,96,178,189,208],"due":[18],"uncertainties":[20],"in":[21,42,143,215],"measurements":[22],"and":[23,35,113,135,148,179,190],"external":[24],"disturbances.":[25],"Therefore,":[26],"one":[27],"should":[28],"that":[30],"imposed":[31],"constraints":[32,83],"(i.e.,":[33],"collision-free":[34],"curvature-constrained":[36],"motion)":[38],"are":[39,84,138],"satisfied":[40,142],"also":[41],"transient":[44],"stage":[45],"the":[47,58,66,81,91,103,131,153,162,188,220],"control":[48,98,157],"process":[49],"when":[50],"configuration":[53,149],"not":[55],"aligned":[56],"with":[57,108,161],"reference":[59,75,126,177,207],"path.":[60,127],"This":[61],"can":[62],"be":[63,141],"achieved":[64],"using":[65],"concept":[67],"funnels":[69],"describing":[70],"neighborhood":[72],"path,":[76],"inside":[77],"which,":[79],"all":[80],"prescribed":[82],"satisfied.":[85],"this":[87],"paper":[88],"we":[89],"extend":[90],"VFO":[92],"(Vector":[93],"Field":[94],"Orientation)":[95],"following":[97,205],"law":[99],"proposed":[100,194],"previously":[101],"by":[102,199],"authors":[104],"car-like":[106,203],"strictly":[109],"limited":[110],"steering":[111,132],"angle":[112,133],"develop":[114],"method":[116,195],"computing":[118],"safe":[120],"invariant":[121],"funnel":[122,217],"around":[123],"known":[125],"Constraints":[128],"resulting":[129],"from":[130,210],"limits":[134],"obstacle":[136],"avoidance":[137],"guaranteed":[139],"continuous":[144],"domains":[145],"time":[147],"space":[150],"thanks":[151],"application":[154],"system":[158],"analysis":[159],"complemented":[160],"sum-of-squares":[163],"(SOS)":[164],"optimization":[165],"method.":[166],"Furthermore,":[167],"convenient":[169],"level":[170],"curve":[171],"representation":[172],"utilized":[174],"for":[175],"both":[176],"obstacles,":[180],"rendering":[181],"explicit":[182],"computation":[183],"distance":[186],"obstacles":[191],"unnecessary.":[192],"The":[193],"has":[196],"been":[197],"verified":[198],"simulations":[200],"starting":[209],"non-nominal":[211],"initial":[212],"conditions":[213],"contained":[214],"computed":[218],"during":[219],"motion":[221],"planning":[222],"stage.":[223]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}