{"id":"https://openalex.org/W4387914485","doi":"https://doi.org/10.1109/codit58514.2023.10284200","title":"Path Tracking for Wheeled Mobile Robot Using Non Linear Model Predictive Control in Indoor Environment","display_name":"Path Tracking for Wheeled Mobile Robot Using Non Linear Model Predictive Control in Indoor Environment","publication_year":2023,"publication_date":"2023-07-03","ids":{"openalex":"https://openalex.org/W4387914485","doi":"https://doi.org/10.1109/codit58514.2023.10284200"},"language":"en","primary_location":{"id":"doi:10.1109/codit58514.2023.10284200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit58514.2023.10284200","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)","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/A5028002342","display_name":"Alessandro Bozzi","orcid":"https://orcid.org/0000-0002-2436-0946"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Alessandro Bozzi","raw_affiliation_strings":["University of Genoa,Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS),Genoa,Italy","Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"University of Genoa,Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS),Genoa,Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064754948","display_name":"Simone Graffione","orcid":"https://orcid.org/0000-0003-0882-586X"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Graffione","raw_affiliation_strings":["University of Genoa,Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS),Genoa,Italy","Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"University of Genoa,Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS),Genoa,Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114093698","display_name":"Michiel M.W. Kockelkoren","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Michiel M.W. Kockelkoren","raw_affiliation_strings":["Delft University of Technology,Delft Center for Systems and Control (DCSC),Delft,Netherlands","Delft Center for Systems and Control (DCSC), Delft University of Technology, Delft, Netherlands"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Delft Center for Systems and Control (DCSC),Delft,Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Delft Center for Systems and Control (DCSC), Delft University of Technology, Delft, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056952732","display_name":"Roberto Sacile","orcid":"https://orcid.org/0000-0003-4086-8747"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Roberto Sacile","raw_affiliation_strings":["University of Genoa,Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS),Genoa,Italy","Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"University of Genoa,Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS),Genoa,Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053276966","display_name":"Enrico Zero","orcid":"https://orcid.org/0000-0002-9995-1724"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Enrico Zero","raw_affiliation_strings":["University of Genoa,Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS),Genoa,Italy","Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"University of Genoa,Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS),Genoa,Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Informatics, Bioengineering, Robotics and Systems Engineering (DIBRIS), University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5028002342"],"corresponding_institution_ids":["https://openalex.org/I83816512"],"apc_list":null,"apc_paid":null,"fwci":0.3685,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.60756558,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1379","last_page":"1384"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9966999888420105,"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/mobile-robot","display_name":"Mobile robot","score":0.7782101035118103},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7062833905220032},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6369146108627319},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6165776252746582},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5926879644393921},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5690773129463196},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5422765016555786},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5163658857345581},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.48962336778640747},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4676026403903961},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4594385027885437},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42514321208000183},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3306691646575928},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24759334325790405},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12082615494728088}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7782101035118103},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7062833905220032},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6369146108627319},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6165776252746582},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5926879644393921},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5690773129463196},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5422765016555786},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5163658857345581},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.48962336778640747},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4676026403903961},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4594385027885437},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42514321208000183},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3306691646575928},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24759334325790405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12082615494728088},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/codit58514.2023.10284200","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit58514.2023.10284200","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unige.it:11567/1173198","is_oa":false,"landing_page_url":"https://hdl.handle.net/11567/1173198","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","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":13,"referenced_works":["https://openalex.org/W75509891","https://openalex.org/W2149056111","https://openalex.org/W2773363600","https://openalex.org/W2922380376","https://openalex.org/W2954878698","https://openalex.org/W3005312570","https://openalex.org/W3039277762","https://openalex.org/W3120311204","https://openalex.org/W3135374165","https://openalex.org/W3173510319","https://openalex.org/W4281396503","https://openalex.org/W4309002521","https://openalex.org/W4312090463"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W2359600231","https://openalex.org/W4292862729","https://openalex.org/W2380019117","https://openalex.org/W2150982344"],"abstract_inverted_index":{"Wheeled":[0],"Mobile":[1],"Robots":[2],"(WMR)":[3],"with":[4,71],"the":[5,46,89,93,96,101,106,109,123,129,137,141,151],"assistance":[6],"of":[7],"Information":[8],"Communication":[9],"Technology":[10],"(ICT)":[11],"can":[12,23,32,41],"navigate":[13],"and":[14,140],"perform":[15],"some":[16,25,83],"tasks":[17],"in":[18,27,36,132,155],"an":[19,68,156],"uncontrolled":[20],"environment.":[21,158],"They":[22],"experience":[24],"problems":[26],"task":[28],"management":[29],"if":[30],"they":[31],"not":[33],"localize":[34],"themself":[35],"indoor/outdoor":[37],"environments.":[38],"Different":[39],"algorithms":[40],"be":[42],"exploited":[43],"to":[44,50,146],"evaluate":[45],"proper":[47],"control":[48,102,116],"law":[49,103],"track":[51],"a":[52,58,62,72,133,147],"default":[53],"path.":[54],"In":[55,98],"this":[56,99],"paper,":[57],"path-tracking":[59],"algorithm":[60,117],"for":[61,67,105],"WMR":[63,80,94],"has":[64],"been":[65],"tested":[66,119],"indoor":[69,157],"environment,":[70],"delimited":[73],"area":[74],"spanned":[75],"by":[76],"localization":[77],"tags.":[78],"The":[79,115],"must":[81],"check":[82],"waypoints":[84],"during":[85],"its":[86],"path":[87],"until":[88],"last":[90],"one,":[91],"where":[92,150],"re-start":[95],"simulation.":[97],"work,":[100],"applied":[104],"experiments":[107],"is":[108,118,126,144],"Non-Linear":[110],"Model":[111],"Predictive":[112],"Controller":[113],"(NMPC).":[114],"using":[120,136],"two":[121],"experiments,":[122],"first":[124],"one":[125,143],"based":[127],"on":[128],"robot":[130,153],"movements":[131],"simulation":[134],"environment":[135],"Gazebo":[138],"tools,":[139],"second":[142],"related":[145],"real":[148],"context":[149],"mobile":[152],"moves":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}