{"id":"https://openalex.org/W2116659551","doi":"https://doi.org/10.1109/cdc.2005.1582307","title":"Steering the Chaplygin Sleigh by a Moving Mass","display_name":"Steering the Chaplygin Sleigh by a Moving Mass","publication_year":2006,"publication_date":"2006-10-04","ids":{"openalex":"https://openalex.org/W2116659551","doi":"https://doi.org/10.1109/cdc.2005.1582307","mag":"2116659551"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2005.1582307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2005.1582307","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 44th IEEE Conference on Decision and Control","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/A5073943681","display_name":"Jason Osborne","orcid":null},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.M. Osborne","raw_affiliation_strings":["Department of Mathematics, North Carolina State University, Raleigh, NC, USA","Department of Mathematics, North Carolina State University, Raleigh, NC 27695, jmosborn@unity.ncsu.edu"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics, North Carolina State University, Raleigh, NC, USA","institution_ids":["https://openalex.org/I137902535"]},{"raw_affiliation_string":"Department of Mathematics, North Carolina State University, Raleigh, NC 27695, jmosborn@unity.ncsu.edu","institution_ids":["https://openalex.org/I137902535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059150715","display_name":"Dmitry V. Zenkov","orcid":null},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D.V. Zenkov","raw_affiliation_strings":["Department of Mathematics, North Carolina State University, Raleigh, NC, USA","North Carolina State University,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics, North Carolina State University, Raleigh, NC, USA","institution_ids":["https://openalex.org/I137902535"]},{"raw_affiliation_string":"North Carolina State University,","institution_ids":["https://openalex.org/I137902535"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.5904,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.9428731,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1114","last_page":"1118"},"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":1.0,"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":1.0,"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":0.9951000213623047,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/computer-science","display_name":"Computer science","score":0.5379775762557983},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4534778594970703},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43040403723716736},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4220535159111023},{"id":"https://openalex.org/keywords/trap","display_name":"Trap (plumbing)","score":0.42124003171920776},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42066073417663574},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39092740416526794},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3416026830673218},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11319062113761902},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.10182136297225952},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07551112771034241}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5379775762557983},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4534778594970703},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43040403723716736},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4220535159111023},{"id":"https://openalex.org/C121099081","wikidata":"https://www.wikidata.org/wiki/Q665580","display_name":"Trap (plumbing)","level":2,"score":0.42124003171920776},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42066073417663574},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39092740416526794},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3416026830673218},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11319062113761902},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.10182136297225952},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07551112771034241}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2005.1582307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2005.1582307","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 44th IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1516079644","https://openalex.org/W1524590822","https://openalex.org/W1993300073","https://openalex.org/W2038067954","https://openalex.org/W2055315817","https://openalex.org/W2056526113","https://openalex.org/W2084975781","https://openalex.org/W2120851686","https://openalex.org/W2138642494","https://openalex.org/W2143769694","https://openalex.org/W2146826877","https://openalex.org/W2156537362","https://openalex.org/W2167130840","https://openalex.org/W2168259293","https://openalex.org/W2487935931","https://openalex.org/W4292408540"],"related_works":["https://openalex.org/W2199813689","https://openalex.org/W4252447916","https://openalex.org/W2369033613","https://openalex.org/W2511880725","https://openalex.org/W2390226751","https://openalex.org/W2904116937","https://openalex.org/W2592098988","https://openalex.org/W1849638103","https://openalex.org/W284217049","https://openalex.org/W2552467349"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"design":[4],"a":[5,14],"steering":[6],"control":[7],"algorithm":[8],"for":[9],"the":[10,23,31,36,42],"Chaplygin":[11],"sleigh":[12],"with":[13],"moving":[15],"mass.":[16],"Our":[17],"strategy":[18],"is":[19],"to":[20,26,40],"only":[21],"use":[22],"controlled":[24],"dynamics":[25],"initiate":[27],"short-time":[28],"transitions":[29],"between":[30],"various":[32],"uncontrolled":[33],"modes":[34],"of":[35,45],"system":[37],"in":[38],"order":[39],"achieve":[41],"desired":[43],"direction":[44],"motion.":[46]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
