{"id":"https://openalex.org/W7155063307","doi":"https://doi.org/10.1109/icara69401.2026.11480330","title":"Linear Parameter-Varying Dynamic Modeling of Agricultural Robots on Variable-Friction Soils","display_name":"Linear Parameter-Varying Dynamic Modeling of Agricultural Robots on Variable-Friction Soils","publication_year":2026,"publication_date":"2026-02-05","ids":{"openalex":"https://openalex.org/W7155063307","doi":"https://doi.org/10.1109/icara69401.2026.11480330"},"language":"en","primary_location":{"id":"doi:10.1109/icara69401.2026.11480330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara69401.2026.11480330","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 12th International Conference on Automation, Robotics and Applications (ICARA)","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/A5134121330","display_name":"Accacio F. dos Santos Neto","orcid":null},"institutions":[{"id":"https://openalex.org/I4210136482","display_name":"Federal Center for Technological Education of Minas Gerais","ror":"https://ror.org/04ch49185","country_code":"BR","type":"education","lineage":["https://openalex.org/I4210136482"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Accacio F. dos Santos Neto","raw_affiliation_strings":["CEFET-MG - Centro Federal de Educa&#x00E7;&#x00E3;o Tecnol&#x00F3;gica de Minas Gerais,Leopoldina,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CEFET-MG - Centro Federal de Educa&#x00E7;&#x00E3;o Tecnol&#x00F3;gica de Minas Gerais,Leopoldina,Brazil","institution_ids":["https://openalex.org/I4210136482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075641653","display_name":"Marcelo R. Petry","orcid":"https://orcid.org/0000-0002-7023-8562"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Marcelo R. Petry","raw_affiliation_strings":["INESC TEC - Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC - Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013118179","display_name":"Ant\u00f3nio Paulo Moreira","orcid":"https://orcid.org/0000-0001-8573-3147"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Ant\u00f3nio Paulo Moreira","raw_affiliation_strings":["INESC TEC - Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC - Institute for Systems and Computer Engineering, Technology and Science,Porto,Portugal","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035867976","display_name":"Paolo Mercorelli","orcid":"https://orcid.org/0000-0003-3288-5280"},"institutions":[{"id":"https://openalex.org/I113456305","display_name":"Leuphana University of L\u00fcneburg","ror":"https://ror.org/02w2y2t16","country_code":"DE","type":"education","lineage":["https://openalex.org/I113456305"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Paolo Mercorelli","raw_affiliation_strings":["IPTS - Institute for Production Technology and Systems Leuphana University of L&#x00FC;neburg,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IPTS - Institute for Production Technology and Systems Leuphana University of L&#x00FC;neburg,Germany","institution_ids":["https://openalex.org/I113456305"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.44575666,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"222","last_page":"227"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.7373999953269958,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.7373999953269958,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.048900000751018524,"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/T13746","display_name":"Mechanical Systems and Engineering","score":0.01759999990463257,"subfield":{"id":"https://openalex.org/subfields/2105","display_name":"Renewable Energy, Sustainability and the Environment"},"field":{"id":"https://openalex.org/fields/21","display_name":"Energy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5378000140190125},{"id":"https://openalex.org/keywords/agriculture","display_name":"Agriculture","score":0.4578999876976013},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.4293999969959259},{"id":"https://openalex.org/keywords/soil-water","display_name":"Soil water","score":0.41510000824928284},{"id":"https://openalex.org/keywords/mathematical-model","display_name":"Mathematical model","score":0.3447999954223633},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.3005000054836273}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5378000140190125},{"id":"https://openalex.org/C118518473","wikidata":"https://www.wikidata.org/wiki/Q11451","display_name":"Agriculture","level":2,"score":0.4578999876976013},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.4293999969959259},{"id":"https://openalex.org/C159750122","wikidata":"https://www.wikidata.org/wiki/Q96621023","display_name":"Soil water","level":2,"score":0.41510000824928284},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.4142000079154968},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35199999809265137},{"id":"https://openalex.org/C76969082","wikidata":"https://www.wikidata.org/wiki/Q486902","display_name":"Mathematical model","level":2,"score":0.3447999954223633},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3005000054836273},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2955999970436096},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.29440000653266907},{"id":"https://openalex.org/C88463610","wikidata":"https://www.wikidata.org/wiki/Q194118","display_name":"Agricultural engineering","level":1,"score":0.26910001039505005},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25780001282691956},{"id":"https://openalex.org/C108215451","wikidata":"https://www.wikidata.org/wiki/Q7263963","display_name":"Simulation modeling","level":2,"score":0.2549999952316284},{"id":"https://openalex.org/C120217122","wikidata":"https://www.wikidata.org/wiki/Q740083","display_name":"Precision agriculture","level":3,"score":0.2549000084400177},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.25220000743865967}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icara69401.2026.11480330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara69401.2026.11480330","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 12th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.leuphana.de:openaire_cris_publications/758909e5-6ea2-47d2-80ce-f37b5f919133","is_oa":false,"landing_page_url":"http://fis.leuphana.de/de/publications/linear-parametervarying-dynamic-modeling-of-agricultural-robots-on-variablefriction-soils(758909e5-6ea2-47d2-80ce-f37b5f919133).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400489","display_name":"Multilingual Matters (Channel View Publications)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Neto, A F D S, Petry, M R, Moreira, A P & Mercorelli, P 2026, 'Linear Parameter-Varying Dynamic Modeling of Agricultural Robots on Variable-Friction Soils', Proceedings of the International Conference on Automation, Robotics and Applications, ICARA, no. 2026, pp. 222-227. https://doi.org/10.1109/ICARA69401.2026.11480330","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8019458055496216,"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2"}],"awards":[{"id":"https://openalex.org/G2746485623","display_name":null,"funder_award_id":"442696/2023-0","funder_id":"https://openalex.org/F4320322025","funder_display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico"}],"funders":[{"id":"https://openalex.org/F4320322025","display_name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","ror":"https://ror.org/03swz6y49"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"dynamic":[1],"modeling":[2],"of":[3,98,120],"ground":[4,65],"robots":[5],"(Unmanned":[6],"Ground":[7],"Vehicles":[8],"-":[9,67,71],"UGVs)":[10],"is":[11],"essential":[12],"for":[13,124],"robust":[14],"control":[15],"and":[16,26,59,83,105],"navigation":[17],"in":[18,23],"agricultural":[19],"environments,":[20],"where":[21],"variations":[22],"soil":[24,49,76,99],"friction":[25,44,77],"rolling":[27],"resistance":[28],"significantly":[29],"affect":[30],"system":[31],"dynamics.":[32,128],"This":[33],"work":[34],"proposes":[35],"a":[36],"Linear":[37],"Parameter-Varying":[38],"(LPV)":[39],"model":[40,93],"parameterized":[41],"by":[42],"the":[43,68,80,91,96,118,126],"coefficient,":[45],"identified":[46],"under":[47,74],"different":[48],"conditions":[50],"using":[51,121],"two":[52],"excitation":[53,123],"strategies:":[54],"Amplitude-Pseudo-Random":[55],"Binary":[56],"Sequence":[57],"(APRBS)":[58],"standard":[60],"maneuvers":[61],"(SM).":[62],"A":[63],"simulated":[64],"robot":[66,127],"Clearpath":[69],"Husky":[70],"was":[72],"used":[73],"multiple":[75],"scenarios":[78],"within":[79],"ROS":[81],"2":[82],"Gazebo":[84],"simulation":[85],"environment.":[86],"The":[87,114],"results":[88,115],"show":[89],"that":[90],"LPV":[92,103,106],"effectively":[94],"captures":[95],"influence":[97],"friction,":[100],"with":[101],"both":[102],"APRBS":[104],"SM":[107],"yielding":[108],"similar":[109],"RMSE":[110],"values":[111],"across":[112],"scenarios.":[113],"also":[116],"highlight":[117],"feasibility":[119],"SM-based":[122],"identifying":[125]},"counts_by_year":[],"updated_date":"2026-08-08T01:25:22.217667","created_date":"2026-04-22T00:00:00"}
