{"id":"https://openalex.org/W2148033299","doi":"https://doi.org/10.1109/icarcv.2002.1234987","title":"Time-optimal feedback control of a non-holonomic vehicle using neural networks","display_name":"Time-optimal feedback control of a non-holonomic vehicle using neural networks","publication_year":2004,"publication_date":"2004-01-24","ids":{"openalex":"https://openalex.org/W2148033299","doi":"https://doi.org/10.1109/icarcv.2002.1234987","mag":"2148033299"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2002.1234987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1234987","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","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/A5068677405","display_name":"Gu Fang","orcid":"https://orcid.org/0000-0003-3723-1665"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Gu Fang","raw_affiliation_strings":["School of Engineering & Industrial Design, University of Western Ontario, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"School of Engineering & Industrial Design, University of Western Ontario, NSW, Australia","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091185859","display_name":"Gamini Dissanayake","orcid":"https://orcid.org/0000-0002-7992-0680"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"G. Dissanayake","raw_affiliation_strings":["Faculty of Engineering, University of Technology, Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, University of Technology, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5068677405"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.11965215,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"1458","last_page":"1463"},"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":0.9998000264167786,"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":0.9998000264167786,"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":0.9991000294685364,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9725000262260437,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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","display_name":"Holonomic","score":0.8368123769760132},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7432329654693604},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7371639013290405},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6476258635520935},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.628892719745636},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6177340149879456},{"id":"https://openalex.org/keywords/truck","display_name":"Truck","score":0.5591210126876831},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5333808660507202},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5112547874450684},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.49507060647010803},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.44911277294158936},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.41252321004867554},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38750696182250977},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3722466826438904},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24769073724746704},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2056293785572052},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1671777367591858},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15991342067718506},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.11121377348899841}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.8368123769760132},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7432329654693604},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7371639013290405},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6476258635520935},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.628892719745636},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6177340149879456},{"id":"https://openalex.org/C52121051","wikidata":"https://www.wikidata.org/wiki/Q43193","display_name":"Truck","level":2,"score":0.5591210126876831},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5333808660507202},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5112547874450684},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.49507060647010803},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.44911277294158936},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.41252321004867554},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38750696182250977},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3722466826438904},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24769073724746704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2056293785572052},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1671777367591858},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15991342067718506},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.11121377348899841},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2002.1234987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1234987","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","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":12,"referenced_works":["https://openalex.org/W586453109","https://openalex.org/W1500416082","https://openalex.org/W1597062635","https://openalex.org/W1784549405","https://openalex.org/W2021481272","https://openalex.org/W2069612046","https://openalex.org/W2109243489","https://openalex.org/W2123036476","https://openalex.org/W2148347691","https://openalex.org/W2156453235","https://openalex.org/W2162852771","https://openalex.org/W2179355183"],"related_works":["https://openalex.org/W2154502479","https://openalex.org/W1593123930","https://openalex.org/W2127776540","https://openalex.org/W2365582959","https://openalex.org/W2007583701","https://openalex.org/W2363850121","https://openalex.org/W2717412651","https://openalex.org/W2147349727","https://openalex.org/W2113830208","https://openalex.org/W876576717"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,9,22,40,51,65,73],"minimum-time":[4,18],"feedback":[5],"controller":[6,69],"for":[7,20,70],"maneuvering":[8],"non-holonomic":[10],"vehicle.":[11],"A":[12],"trajectory":[13],"planning":[14],"algorithm":[15],"that":[16,43,79],"generates":[17],"trajectories":[19],"moving":[21],"vehicle":[23,56],"from":[24],"an":[25],"arbitrary":[26],"starting":[27],"location":[28],"to":[29,38],"the":[30,54,81,84,88],"origin":[31],"is":[32,61],"presented.":[33],"Trajectories":[34],"generated":[35],"are":[36,77],"used":[37],"train":[39],"neural":[41,66],"network":[42,67],"computes":[44],"instantaneous":[45],"velocity":[46],"and":[47],"steering":[48],"commands":[49],"as":[50],"function":[52],"of":[53,83,90],"current":[55],"state.":[57],"The":[58],"proposed":[59,85],"strategy":[60],"illustrated":[62],"by":[63],"developing":[64],"based":[68],"backing":[71],"up":[72],"truck.":[74],"Computer":[75],"simulations":[76],"presented":[78],"demonstrates":[80],"effectiveness":[82],"technique":[86],"in":[87],"presence":[89],"disturbances.":[91]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
