{"id":"https://openalex.org/W2108754025","doi":"https://doi.org/10.1109/cdc.2005.1583374","title":"A globally convergent steering algorithm for regular nonholonomic systems","display_name":"A globally convergent steering algorithm for regular nonholonomic systems","publication_year":2006,"publication_date":"2006-10-04","ids":{"openalex":"https://openalex.org/W2108754025","doi":"https://doi.org/10.1109/cdc.2005.1583374","mag":"2108754025"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2005.1583374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2005.1583374","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":"conference-paper","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/A5013119422","display_name":"Fr\u00e9d\u00e9ric Jean","orcid":"https://orcid.org/0000-0001-8170-076X"},"institutions":[{"id":"https://openalex.org/I201181511","display_name":"\u00c9cole Nationale Sup\u00e9rieure de Techniques Avanc\u00e9es","ror":"https://ror.org/0309cs235","country_code":"FR","type":"education","lineage":["https://openalex.org/I201181511","https://openalex.org/I4210145102"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"F. Jean","raw_affiliation_strings":["UMA-ENSTA, Paris, France","UMA, ENSTA, 32, Bvd. Victor, 75739 Paris Cedex 15, France (fjean@ensta.fr)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UMA-ENSTA, Paris, France","institution_ids":["https://openalex.org/I201181511"]},{"raw_affiliation_string":"UMA, ENSTA, 32, Bvd. Victor, 75739 Paris Cedex 15, France (fjean@ensta.fr)","institution_ids":["https://openalex.org/I201181511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085865201","display_name":"Giuseppe Oriolo","orcid":"https://orcid.org/0000-0001-6153-9278"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G. Oriolo","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","Sapienza, university of Rome"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Sapienza, university of Rome","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040398924","display_name":"Marilena Vendittelli","orcid":"https://orcid.org/0000-0002-5348-0525"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Vendittelli","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","Sapienza, university of Rome"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Sapienza, university of Rome","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.20849833,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7514","last_page":"7519"},"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":0.9976000189781189,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9907000064849854,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.9087339639663696},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.8091079592704773},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.8004946708679199},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4937537610530853},{"id":"https://openalex.org/keywords/contraction","display_name":"Contraction (grammar)","score":0.49216002225875854},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48508134484291077},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47372379899024963},{"id":"https://openalex.org/keywords/extension","display_name":"Extension (predicate logic)","score":0.444845974445343},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.42105239629745483},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3570364713668823},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16337740421295166},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.15587151050567627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14235809445381165},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10879814624786377},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09570956230163574}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.9087339639663696},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.8091079592704773},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.8004946708679199},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4937537610530853},{"id":"https://openalex.org/C163415756","wikidata":"https://www.wikidata.org/wiki/Q126473","display_name":"Contraction (grammar)","level":2,"score":0.49216002225875854},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48508134484291077},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47372379899024963},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.444845974445343},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.42105239629745483},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3570364713668823},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16337740421295166},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.15587151050567627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14235809445381165},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10879814624786377},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09570956230163574},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc.2005.1583374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2005.1583374","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"},{"id":"pmh:oai:HAL:hal-03502577v1","is_oa":false,"landing_page_url":"https://ensta.hal.science/hal-03502577","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"44th IEEE Conference on Decision and Control, 2005, Seville, France. pp.7514-7519, ⟨10.1109/CDC.2005.1583374⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:iris.uniroma1.it:11573/232208","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?eid=2-s2.0-33847201909&partnerID=65&md5=a93a7283cc17bed67e4f13e898e92189","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W104757774","https://openalex.org/W1985578018","https://openalex.org/W2005873971","https://openalex.org/W2010704362","https://openalex.org/W2065297540","https://openalex.org/W2114484121","https://openalex.org/W2123099075","https://openalex.org/W2133361850","https://openalex.org/W2139854047","https://openalex.org/W2171457282"],"related_works":["https://openalex.org/W1542582640","https://openalex.org/W2010978377","https://openalex.org/W2118707471","https://openalex.org/W2329610818","https://openalex.org/W2125084394","https://openalex.org/W2464404770","https://openalex.org/W2618933999","https://openalex.org/W2040709815","https://openalex.org/W3149609083","https://openalex.org/W1979214560"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,45],"steering":[3,34],"algorithm":[4,52],"for":[5],"regular":[6],"\u2013":[7,11],"i.e.,":[8],"without":[9],"singularities":[10],"nonholonomic":[12],"systems":[13,58],"which":[14],"are":[15],"not":[16],"required":[17],"to":[18,55,57],"possess":[19],"special":[20],"properties":[21],"such":[22],"as":[23],"flatness":[24],"or":[25],"exact":[26],"nilpotentizability.":[27],"The":[28,51],"method":[29],"makes":[30],"use":[31],"of":[32,44,48],"local":[33],"laws,":[35],"with":[36,59],"suitable":[37],"contraction":[38],"properties,":[39],"designed":[40],"on":[41],"the":[42,49],"basis":[43],"continuous":[46],"approximation":[47],"system.":[50],"is":[53],"amenable":[54],"extension":[56],"singularities.":[60]},"counts_by_year":[{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}