{"id":"https://openalex.org/W4312948104","doi":"https://doi.org/10.1109/ccta49430.2022.9966052","title":"A Force-Based Control Approach for the Non-Prehensile Cooperative Transportation of Objects Using Omnidirectional Mobile Robots","display_name":"A Force-Based Control Approach for the Non-Prehensile Cooperative Transportation of Objects Using Omnidirectional Mobile Robots","publication_year":2022,"publication_date":"2022-08-23","ids":{"openalex":"https://openalex.org/W4312948104","doi":"https://doi.org/10.1109/ccta49430.2022.9966052"},"language":"en","primary_location":{"id":"doi:10.1109/ccta49430.2022.9966052","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta49430.2022.9966052","pdf_url":null,"source":{"id":"https://openalex.org/S4363608038","display_name":"2022 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":"2022 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/A5003396063","display_name":"Mario Rosenfelder","orcid":"https://orcid.org/0000-0003-0460-0612"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mario Rosenfelder","raw_affiliation_strings":["University of Stuttgart,Institute of Engineering and Computational Mechanics,Stuttgart,Germany,70569"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Institute of Engineering and Computational Mechanics,Stuttgart,Germany,70569","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040753818","display_name":"Henrik Ebel","orcid":"https://orcid.org/0000-0002-2632-6960"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Henrik Ebel","raw_affiliation_strings":["University of Stuttgart,Institute of Engineering and Computational Mechanics,Stuttgart,Germany,70569"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Institute of Engineering and Computational Mechanics,Stuttgart,Germany,70569","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044233744","display_name":"Peter Eberhard","orcid":"https://orcid.org/0000-0003-1809-4407"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Peter Eberhard","raw_affiliation_strings":["University of Stuttgart,Institute of Engineering and Computational Mechanics,Stuttgart,Germany,70569"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Institute of Engineering and Computational Mechanics,Stuttgart,Germany,70569","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0743,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.76874157,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"349","last_page":"356"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/computer-science","display_name":"Computer science","score":0.6798433065414429},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6797390580177307},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6180902123451233},{"id":"https://openalex.org/keywords/prehensile-tail","display_name":"Prehensile tail","score":0.5947183966636658},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5415256023406982},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.526774525642395},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5253447890281677},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.46304967999458313},{"id":"https://openalex.org/keywords/anticipation","display_name":"Anticipation (artificial intelligence)","score":0.45838162302970886},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.45237693190574646},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4236797094345093},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.41974878311157227},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.40904372930526733},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3357578217983246},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3342124819755554},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19982120394706726},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08432936668395996}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6798433065414429},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6797390580177307},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6180902123451233},{"id":"https://openalex.org/C136380597","wikidata":"https://www.wikidata.org/wiki/Q10508905","display_name":"Prehensile tail","level":2,"score":0.5947183966636658},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5415256023406982},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.526774525642395},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5253447890281677},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.46304967999458313},{"id":"https://openalex.org/C176777502","wikidata":"https://www.wikidata.org/wiki/Q4774623","display_name":"Anticipation (artificial intelligence)","level":2,"score":0.45838162302970886},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45237693190574646},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4236797094345093},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.41974878311157227},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.40904372930526733},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3357578217983246},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3342124819755554},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19982120394706726},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08432936668395996},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccta49430.2022.9966052","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta49430.2022.9966052","pdf_url":null,"source":{"id":"https://openalex.org/S4363608038","display_name":"2022 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":"2022 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8257042843","display_name":"Untersuchung der Mehrk\u00f6rperdynamik und Regelung f\u00fcr den kollaborativen Transport elastischer Objekte mithilfe eines heterogenen Schwarms von fliegenden und fahrenden mobilen Robotern","funder_award_id":"433183605","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1780019520","https://openalex.org/W1980392184","https://openalex.org/W1993170675","https://openalex.org/W2013439434","https://openalex.org/W2054381558","https://openalex.org/W2055943585","https://openalex.org/W2074070730","https://openalex.org/W2088129908","https://openalex.org/W2103359774","https://openalex.org/W2120617969","https://openalex.org/W2157411165","https://openalex.org/W2162912282","https://openalex.org/W2164330600","https://openalex.org/W2221485456","https://openalex.org/W2294466679","https://openalex.org/W2408457438","https://openalex.org/W2774042362","https://openalex.org/W2805031923","https://openalex.org/W2808494755","https://openalex.org/W2890495115","https://openalex.org/W2985792780","https://openalex.org/W2995296787","https://openalex.org/W3036652756","https://openalex.org/W3098977466","https://openalex.org/W3122245868","https://openalex.org/W3187881577","https://openalex.org/W3195780527","https://openalex.org/W3202099476","https://openalex.org/W4200005991","https://openalex.org/W4200524665","https://openalex.org/W4206566792","https://openalex.org/W4224209465","https://openalex.org/W4300448178","https://openalex.org/W6754484520","https://openalex.org/W6804343982","https://openalex.org/W6887955878"],"related_works":["https://openalex.org/W2898919627","https://openalex.org/W4379536980","https://openalex.org/W2666300258","https://openalex.org/W1989062809","https://openalex.org/W2118689766","https://openalex.org/W2625795345","https://openalex.org/W2215517927","https://openalex.org/W2137384304","https://openalex.org/W114721022","https://openalex.org/W1966688224"],"abstract_inverted_index":{"The":[0,160],"increasing":[1],"complexity":[2],"and":[3,30,67,164],"scale":[4],"of":[5,52,78,82,90,114,135],"today's":[6],"tasks":[7,49],"assigned":[8],"to":[9,22,46,96,112,125,143,150],"autonomous":[10],"robotic":[11,147],"systems":[12],"entails":[13],"that":[14,70],"it":[15,139],"is":[16,58,94,134,166],"often":[17],"neither":[18],"possible":[19],"nor":[20],"efficient":[21],"accomplish":[23],"the":[24,44,75,108,115,127,141],"given":[25],"task":[26],"in":[27,63,107],"a":[28,35,88,104],"reliable":[29],"performant":[31],"manner":[32],"by":[33,50,60],"utilizing":[34],"sophisticated":[36],"individual":[37],"robot.":[38],"Instead,":[39],"distributed":[40],"robotics":[41],"brings":[42],"about":[43],"potential":[45],"master":[47],"complex":[48],"means":[51],"comparatively":[53],"simple":[54],"robots.":[55],"This":[56,133],"anticipation":[57],"enhanced":[59],"continuous":[61],"advances":[62],"communication,":[64],"processing":[65],"units,":[66],"sensors.":[68],"In":[69,110],"regard,":[71],"this":[72,119],"paper":[73,120],"considers":[74],"model":[76],"problem":[77],"non-prehensile":[79],"cooperative":[80],"transportation":[81],"objects.":[83,159],"Relying":[84],"on":[85,130],"optimization-based":[86],"methods,":[87],"group":[89],"omnidirectional":[91],"mobile":[92],"robots":[93],"enabled":[95],"push":[97],"arbitrary":[98],"polygonal,":[99],"possibly":[100],"non-convex,":[101],"objects":[102],"along":[103],"desired":[105],"path":[106],"plane.":[109],"contrast":[111],"some":[113],"authors'":[116],"previous":[117],"work,":[118],"novelly":[121],"proposes":[122],"an":[123],"approach":[124],"manipulate":[126],"object":[128],"based":[129],"force-level":[131],"considerations.":[132],"particular":[136],"interest":[137],"since":[138],"provides":[140],"opportunity":[142],"naturally":[144],"consider":[145],"heterogeneous":[146],"groups":[148],"or":[149],"handle":[151],"more":[152],"intricate":[153],"scenarios":[154],"such":[155],"as":[156],"transporting":[157],"deformable":[158],"proposed":[161],"scheme's":[162],"functionality":[163],"versatility":[165],"demonstrated":[167],"through":[168],"simulation":[169],"scenarios.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}
