{"id":"https://openalex.org/W2145824880","doi":"https://doi.org/10.1109/cdc.2005.1582564","title":"A Causal Discrete-time Estimator-Predictor for Unicycle Trajectory Tracking","display_name":"A Causal Discrete-time Estimator-Predictor for Unicycle Trajectory Tracking","publication_year":2006,"publication_date":"2006-05-25","ids":{"openalex":"https://openalex.org/W2145824880","doi":"https://doi.org/10.1109/cdc.2005.1582564","mag":"2145824880"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2005.1582564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2005.1582564","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/A5030071272","display_name":"N. L\u00e9chevin","orcid":null},"institutions":[{"id":"https://openalex.org/I1297460800","display_name":"Defence Research and Development Canada","ror":"https://ror.org/00hgy8d33","country_code":"CA","type":"government","lineage":["https://openalex.org/I1297460800","https://openalex.org/I1336338359","https://openalex.org/I2802286613"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"N. Lechevin","raw_affiliation_strings":["Defence Research and Development Canada, QUE, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Defence Research and Development Canada, QUE, Canada","institution_ids":["https://openalex.org/I1297460800"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111896739","display_name":"C.A. Rabbath","orcid":null},"institutions":[{"id":"https://openalex.org/I1297460800","display_name":"Defence Research and Development Canada","ror":"https://ror.org/00hgy8d33","country_code":"CA","type":"government","lineage":["https://openalex.org/I1297460800","https://openalex.org/I1336338359","https://openalex.org/I2802286613"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"C.A. Rabbath","raw_affiliation_strings":["Defence Research and Development Canada, QUE, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Defence Research and Development Canada, QUE, Canada","institution_ids":["https://openalex.org/I1297460800"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085012064","display_name":"Antonios Tsourdos","orcid":"https://orcid.org/0000-0002-3966-7633"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"A. Tsourdos","raw_affiliation_strings":["Department of Aerospace, Power and Sensors, Cranfield University, Swindon, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace, Power and Sensors, Cranfield University, Swindon, UK","institution_ids":["https://openalex.org/I82284825"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034856048","display_name":"Brian White","orcid":"https://orcid.org/0000-0002-4604-3802"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"B.A. White","raw_affiliation_strings":["Department of Aerospace, Power and Sensors, Cranfield University, Swindon, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace, Power and Sensors, Cranfield University, Swindon, UK","institution_ids":["https://openalex.org/I82284825"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9181,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.81119899,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2658","last_page":"2663"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"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/T11236","display_name":"Control Systems and Identification","score":0.9994999766349792,"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/trajectory","display_name":"Trajectory","score":0.7208906412124634},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.7107827663421631},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6834731101989746},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6803992986679077},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.6236549019813538},{"id":"https://openalex.org/keywords/quantization","display_name":"Quantization (signal processing)","score":0.5735002160072327},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5513208508491516},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4899524748325348},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42373210191726685},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37338972091674805},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.27590906620025635},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17887377738952637},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17582878470420837}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7208906412124634},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.7107827663421631},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6834731101989746},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6803992986679077},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.6236549019813538},{"id":"https://openalex.org/C28855332","wikidata":"https://www.wikidata.org/wiki/Q198099","display_name":"Quantization (signal processing)","level":2,"score":0.5735002160072327},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5513208508491516},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4899524748325348},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42373210191726685},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37338972091674805},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.27590906620025635},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17887377738952637},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17582878470420837},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2005.1582564","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2005.1582564","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":[{"display_name":"Peace, Justice and strong institutions","score":0.75,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W636436182","https://openalex.org/W1511275238","https://openalex.org/W1982446614","https://openalex.org/W2021028598","https://openalex.org/W2027085444","https://openalex.org/W2065297540","https://openalex.org/W2068025676","https://openalex.org/W2086702149","https://openalex.org/W2100134099","https://openalex.org/W2110968795","https://openalex.org/W2140676322","https://openalex.org/W2145731676","https://openalex.org/W2727767372","https://openalex.org/W4252184929","https://openalex.org/W6740119905"],"related_works":["https://openalex.org/W2006251942","https://openalex.org/W2364741597","https://openalex.org/W1492103595","https://openalex.org/W1864774435","https://openalex.org/W946352265","https://openalex.org/W3020787026","https://openalex.org/W2334479858","https://openalex.org/W2799209613","https://openalex.org/W2793786119","https://openalex.org/W2018658498"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,14,45,94,124,142],"nonlinear":[4,17,38,115,152],"sampled-data":[5],"(SD)":[6],"control":[7,40,60,105,158],"approach":[8],"for":[9,48,119],"the":[10,23,30,44,49,55,79,102,108,120,127,131,164],"trajectory":[11,121],"tracking":[12,122],"of":[13,16,32,51,57,68,92,123,163],"class":[15],"differentially":[18],"at":[19],"systems":[20],"that":[21,75,101,130],"encompass":[22],"unicycle,":[24],"which":[25],"is":[26,81,134],"widely":[27],"used":[28],"in":[29,78],"context":[31],"unmanned":[33],"aerial":[34],"vehicle":[35],"(UAV).":[36],"The":[37,72,156],"SD":[39,104,157],"method":[41],"relies":[42,159],"on":[43,63,88,160],"atness":[46],"property":[47],"generation":[50],"appropriate":[52],"trajectories,":[53],"with":[54,114,141],"design":[56,118],"one-step":[58],"predictive":[59],"laws,":[61],"and":[62,146],"controller":[64],"discretization":[65],"by":[66,83],"means":[67],"an":[69,85],"averaging-like":[70],"method.":[71],"causality":[73],"problem":[74],"might":[76],"arise":[77],"implementation":[80],"avoided":[82],"using":[84],"estimator":[86],"based":[87],"numerical":[89],"integration":[90],"techniques":[91],"suf":[93],"ciently":[95],"high":[96],"order.":[97],"Numerical":[98],"simulations":[99],"show":[100,129],"proposed":[103,132],"law":[106],"offers":[107],"best":[109],"closed-loop":[110],"performance":[111],"when":[112],"compared":[113],"direct":[116,153],"digital":[117,154],"unicycle.":[125],"Furthermore,":[126],"results":[128],"scheme":[133],"less":[135],"sensitive":[136],"to":[137],"quantization":[138],"errors":[139],"arising":[140],"nite":[143],"word":[144],"length":[145],"xed":[147],"point":[148],"arithmetic":[149],"microprocessors":[150],"than":[151],"design.":[155],"closed-form":[161],"integrability":[162],"UAV.":[165]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}