{"id":"https://openalex.org/W2137328938","doi":"https://doi.org/10.1109/cdc.2007.4434872","title":"Source seeking with a nonholonomic unicycle without position measurements and with tuning of angular velocity part I: Stability analysis","display_name":"Source seeking with a nonholonomic unicycle without position measurements and with tuning of angular velocity part I: Stability analysis","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2137328938","doi":"https://doi.org/10.1109/cdc.2007.4434872","mag":"2137328938"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2007.4434872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434872","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th 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/A5109093752","display_name":"Jennie Cochran","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jennie Cochran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5018293076","display_name":"Miroslav Krsti\u0107","orcid":"https://orcid.org/0000-0002-5523-941X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Miroslav Krstic","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":14.065,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.98771856,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6009","last_page":"6016"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","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/T14083","display_name":"Extremum Seeking Control Systems","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"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.8290913105010986},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.6359301805496216},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.604741096496582},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6013354659080505},{"id":"https://openalex.org/keywords/scalar","display_name":"Scalar (mathematics)","score":0.5617151856422424},{"id":"https://openalex.org/keywords/attractor","display_name":"Attractor","score":0.546630859375},{"id":"https://openalex.org/keywords/scalar-field","display_name":"Scalar field","score":0.5181851983070374},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.45147696137428284},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.363111674785614},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32477474212646484},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.22689604759216309},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22304007411003113},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.21326369047164917},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1641623079776764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10501182079315186},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09700870513916016},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08799746632575989}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8290913105010986},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.6359301805496216},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.604741096496582},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6013354659080505},{"id":"https://openalex.org/C57691317","wikidata":"https://www.wikidata.org/wiki/Q1289248","display_name":"Scalar (mathematics)","level":2,"score":0.5617151856422424},{"id":"https://openalex.org/C164380108","wikidata":"https://www.wikidata.org/wiki/Q507187","display_name":"Attractor","level":2,"score":0.546630859375},{"id":"https://openalex.org/C110521144","wikidata":"https://www.wikidata.org/wiki/Q193460","display_name":"Scalar field","level":2,"score":0.5181851983070374},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.45147696137428284},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.363111674785614},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32477474212646484},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.22689604759216309},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22304007411003113},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.21326369047164917},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1641623079776764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10501182079315186},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09700870513916016},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08799746632575989},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2007.4434872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434872","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2011652032","https://openalex.org/W2019773616","https://openalex.org/W2048600308","https://openalex.org/W2064743507","https://openalex.org/W2089724372","https://openalex.org/W2091253371","https://openalex.org/W2094438648","https://openalex.org/W2097133442","https://openalex.org/W2101607950","https://openalex.org/W2119301680","https://openalex.org/W2128062626","https://openalex.org/W2134399407","https://openalex.org/W2140947684","https://openalex.org/W2159826786","https://openalex.org/W2161933891","https://openalex.org/W2164640872","https://openalex.org/W2313299119","https://openalex.org/W2537677282","https://openalex.org/W2801179766","https://openalex.org/W4252455350","https://openalex.org/W4285719527","https://openalex.org/W4300223101","https://openalex.org/W4300443332"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W3049714198","https://openalex.org/W2960434112","https://openalex.org/W2123897685","https://openalex.org/W2020829486","https://openalex.org/W2016451691"],"abstract_inverted_index":{"We":[0,79,153],"consider":[1],"the":[2,6,18,26,33,36,43,48,59,62,65,70,73,77,85,88,94,103,118,128,130,151,165,170],"problem":[3],"of":[4,8,28,35,41,61,72,76,117,159],"seeking":[5,82],"source":[7,37,63],"a":[9,98,106,156],"scalar":[10,44],"signal":[11,45,51],"using":[12],"an":[13,147],"autonomous":[14,111],"vehicle":[15,22,66,86,131,166],"modeled":[16],"as":[17],"nonholonomic":[19],"unicycle.":[20],"The":[21,50],"does":[23,67],"not":[24,68],"have":[25,69],"capability":[27],"sensing":[29,42],"its":[30],"position":[31,34,60],"or":[32],"but":[38,64],"is":[39,53],"capable":[40],"originating":[46],"from":[47,58],"source.":[49,89,152,171],"field":[52],"assumed":[54],"to":[55,83,87,146],"decay":[56],"away":[57],"knowledge":[71],"functional":[74],"form":[75],"field.":[78],"employ":[80],"extremum":[81],"steer":[84],"Our":[90],"control":[91],"strategy":[92],"keeps":[93],"forward":[95,120],"velocity":[96,121],"at":[97],"constant":[99,119],"value":[100],"and":[101,135,162],"tunes":[102],"angular":[104],"velocity,":[105],"setting":[107],"suitable":[108],"for":[109],"most":[110],"vehicles,":[112],"including":[113],"aerial":[114],"ones.":[115],"Because":[116],"constraint,":[122],"after":[123],"it":[124],"has":[125],"converged":[126],"near":[127,169],"source,":[129],"exhibits":[132],"extremely":[133],"interesting":[134],"complex":[136],"motions.":[137],"Using":[138],"averaging":[139],"theory,":[140],"we":[141],"prove":[142],"local":[143],"exponential":[144],"convergence":[145],"\"orbit-like\"":[148],"attractor":[149],"around":[150],"also":[154],"present":[155],"thorough":[157],"analysis":[158],"non-local":[160],"behaviors":[161],"attractors":[163],"that":[164],"can":[167],"exhibit":[168]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
