{"id":"https://openalex.org/W2292547731","doi":"https://doi.org/10.1109/cdc.2015.7402099","title":"Induced connections on virtual holonomic constraints","display_name":"Induced connections on virtual holonomic constraints","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2292547731","doi":"https://doi.org/10.1109/cdc.2015.7402099","mag":"2292547731"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2015.7402099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2015.7402099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 54th IEEE Conference on Decision and Control (CDC)","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/A5048869539","display_name":"Luca Consolini","orcid":"https://orcid.org/0000-0002-3577-9398"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luca Consolini","raw_affiliation_strings":["The Dipartimento di Ingegneria dell'Informazione, Parma, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Dipartimento di Ingegneria dell'Informazione, Parma, Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013406176","display_name":"Alessandro Costalunga","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alessandro Costalunga","raw_affiliation_strings":["The Dipartimento di Ingegneria dell'Informazione, Parma, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Dipartimento di Ingegneria dell'Informazione, Parma, Italy","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3638,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.64891132,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"139","last_page":"144"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9986000061035156,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.998199999332428,"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/holonomic-constraints","display_name":"Holonomic constraints","score":0.8661915063858032},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.8178791999816895},{"id":"https://openalex.org/keywords/connection","display_name":"Connection (principal bundle)","score":0.8137273192405701},{"id":"https://openalex.org/keywords/affine-connection","display_name":"Affine connection","score":0.7746416330337524},{"id":"https://openalex.org/keywords/geodesic","display_name":"Geodesic","score":0.7282516360282898},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6859210729598999},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5838034152984619},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.4683246910572052},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.46103525161743164},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.45275968313217163},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.404759019613266},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.33760884404182434},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3305807113647461},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.25697946548461914},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2323768436908722},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16897889971733093},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1536315381526947},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14455926418304443}],"concepts":[{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.8661915063858032},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.8178791999816895},{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.8137273192405701},{"id":"https://openalex.org/C105561566","wikidata":"https://www.wikidata.org/wiki/Q1371213","display_name":"Affine connection","level":3,"score":0.7746416330337524},{"id":"https://openalex.org/C165818556","wikidata":"https://www.wikidata.org/wiki/Q213488","display_name":"Geodesic","level":2,"score":0.7282516360282898},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6859210729598999},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5838034152984619},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.4683246910572052},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.46103525161743164},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.45275968313217163},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.404759019613266},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.33760884404182434},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3305807113647461},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.25697946548461914},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2323768436908722},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16897889971733093},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1536315381526947},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14455926418304443},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2015.7402099","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2015.7402099","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 54th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W104477884","https://openalex.org/W580692071","https://openalex.org/W1504362584","https://openalex.org/W1557324374","https://openalex.org/W2010398082","https://openalex.org/W2022948723","https://openalex.org/W2027585176","https://openalex.org/W2028848752","https://openalex.org/W2032630233","https://openalex.org/W2045992114","https://openalex.org/W2098787727","https://openalex.org/W2128131727","https://openalex.org/W2132347660","https://openalex.org/W2133582863","https://openalex.org/W2167322920","https://openalex.org/W2610901891","https://openalex.org/W4206033904","https://openalex.org/W4292402580","https://openalex.org/W6604183741","https://openalex.org/W6656030030","https://openalex.org/W6737084093"],"related_works":["https://openalex.org/W2154502479","https://openalex.org/W2127776540","https://openalex.org/W2365582959","https://openalex.org/W2717412651","https://openalex.org/W2363850121","https://openalex.org/W2147349727","https://openalex.org/W2007583701","https://openalex.org/W4297571009","https://openalex.org/W2952491624","https://openalex.org/W2102602674"],"abstract_inverted_index":{"A":[0],"virtual":[1,25],"holonomic":[2,26],"constraint":[3,38,63],"is":[4],"a":[5,11,43],"relation":[6],"among":[7],"the":[8,34,37,40,50,54,62,70,74],"coordinates":[9],"of":[10,42,53,73],"mechanical":[12,55],"system":[13],"that":[14],"can":[15],"be":[16,66],"made":[17],"invariant":[18],"via":[19],"feedback":[20],"control.":[21],"This":[22],"paper":[23],"frames":[24],"constraints":[27],"in":[28],"an":[29],"affine":[30],"geometry":[31],"setting,":[32],"describing":[33],"dynamics":[35,64],"on":[36,69],"as":[39],"geodesics":[41],"connection":[44,52],"(the":[45],"induced":[46,75],"connection)":[47],"derived":[48],"from":[49],"Levi-Civita":[51],"system.":[56],"It":[57],"also":[58],"presents":[59],"conditions":[60],"for":[61],"to":[65],"Lagrangian,":[67],"based":[68],"metrizability":[71],"properties":[72],"connection.":[76]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
