{"id":"https://openalex.org/W2038530640","doi":"https://doi.org/10.1109/icarcv.2012.6485366","title":"Cascade framework for task-space synchronization of networked robots with uncertain kinematics and dynamics","display_name":"Cascade framework for task-space synchronization of networked robots with uncertain kinematics and dynamics","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2038530640","doi":"https://doi.org/10.1109/icarcv.2012.6485366","mag":"2038530640"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2012.6485366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2012.6485366","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","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/A5007643306","display_name":"Hanlei Wang","orcid":"https://orcid.org/0000-0002-4966-3089"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hanlei Wang","raw_affiliation_strings":["Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing, China","[Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing 100190, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"[Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing 100190, China]","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5007643306"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":0.5659,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.59630537,"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":"1489","last_page":"1494"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12216","display_name":"Network Time Synchronization Technologies","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/synchronization","display_name":"Synchronization (alternating current)","score":0.758941650390625},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6979904174804688},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.660808801651001},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6443619132041931},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.5910329818725586},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.58647221326828},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5826784372329712},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5391154289245605},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5250118374824524},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5105844140052795},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4891253113746643},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.43917977809906006},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4228830337524414},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.37686631083488464},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35674357414245605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2039720118045807},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1603911817073822},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15272733569145203},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.05723884701728821}],"concepts":[{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.758941650390625},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6979904174804688},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.660808801651001},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6443619132041931},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.5910329818725586},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.58647221326828},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5826784372329712},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5391154289245605},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5250118374824524},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5105844140052795},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4891253113746643},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.43917977809906006},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4228830337524414},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.37686631083488464},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35674357414245605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2039720118045807},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1603911817073822},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15272733569145203},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.05723884701728821},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2012.6485366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2012.6485366","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th International Conference on Control Automation Robotics & Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W72772543","https://openalex.org/W99253999","https://openalex.org/W1487127700","https://openalex.org/W1496777766","https://openalex.org/W1527299878","https://openalex.org/W1973963158","https://openalex.org/W2015982707","https://openalex.org/W2025421018","https://openalex.org/W2026480734","https://openalex.org/W2030963989","https://openalex.org/W2034439994","https://openalex.org/W2046241383","https://openalex.org/W2055015486","https://openalex.org/W2057556864","https://openalex.org/W2067757631","https://openalex.org/W2083483041","https://openalex.org/W2091728385","https://openalex.org/W2095590702","https://openalex.org/W2098974515","https://openalex.org/W2101503267","https://openalex.org/W2107396783","https://openalex.org/W2113775715","https://openalex.org/W2118166401","https://openalex.org/W2122895826","https://openalex.org/W2126212284","https://openalex.org/W2140380216","https://openalex.org/W2142714685","https://openalex.org/W2154657352","https://openalex.org/W2167055252","https://openalex.org/W2176205028","https://openalex.org/W4238591275","https://openalex.org/W6631474678","https://openalex.org/W6658854636"],"related_works":["https://openalex.org/W2153719181","https://openalex.org/W1971748923","https://openalex.org/W1566155057","https://openalex.org/W2060986072","https://openalex.org/W2052574922","https://openalex.org/W64588465","https://openalex.org/W3120641340","https://openalex.org/W2117825986","https://openalex.org/W3134067061","https://openalex.org/W2402852349"],"abstract_inverted_index":{"In":[0],"this":[1,34],"paper,":[2],"we":[3,36],"investigate":[4],"the":[5,17,29,56,66,69,79,82],"task-space":[6,40],"synchronization":[7,30,41,67],"for":[8,55],"networked":[9,57,70,85],"robots":[10],"on":[11],"strongly":[12],"connected":[13],"graphs":[14],"with":[15,43],"both":[16],"uncertain":[18],"kinematics":[19],"and":[20,49],"dynamics.":[21],"A":[22],"cascade":[23],"framework":[24],"is":[25,62],"proposed":[26,83],"to":[27,64,77],"facilitate":[28],"controller":[31],"design.":[32],"Under":[33],"framework,":[35],"propose":[37],"an":[38,44],"adaptive":[39,84],"scheme":[42],"indirect":[45],"kinematic":[46],"parameter":[47,53],"adaptation":[48,54],"a":[50],"direct":[51],"dynamic":[52],"robots.":[58],"Passivity":[59],"decomposition":[60],"transformation":[61],"adopted":[63],"show":[65],"of":[68,81],"robotic":[71],"systems.":[72],"Simulation":[73],"results":[74],"are":[75],"provided":[76],"demonstrate":[78],"performance":[80],"controller.":[86]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}