{"id":"https://openalex.org/W2063656024","doi":"https://doi.org/10.1109/icca.2010.5524062","title":"Visual servoing with LQR control for mobile robots","display_name":"Visual servoing with LQR control for mobile robots","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2063656024","doi":"https://doi.org/10.1109/icca.2010.5524062","mag":"2063656024"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2010.5524062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2010.5524062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ICCA 2010","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/A5088459124","display_name":"Haoxiang Lang","orcid":"https://orcid.org/0000-0002-3552-1944"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Haoxiang Lang","raw_affiliation_strings":["Mechanical Engineering Department, the University of British Columbia, Vancouver, BC, Canada","Mechanical Engineering Department, the University of British Columbia, Vancouver, V6T 1Z4, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, the University of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Mechanical Engineering Department, the University of British Columbia, Vancouver, V6T 1Z4, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100346965","display_name":"Ying Wang","orcid":"https://orcid.org/0000-0001-5172-4736"},"institutions":[{"id":"https://openalex.org/I206426949","display_name":"Southern Polytechnic State University","ror":"https://ror.org/00cckeg37","country_code":"US","type":"education","lineage":["https://openalex.org/I206426949"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ying Wang","raw_affiliation_strings":["Division of Engineering, Southern Polytechnic State University, Marietta, GA, USA","[Division of Engineering, Southern Polytechnic State University, Marietta, GA 30060 USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Engineering, Southern Polytechnic State University, Marietta, GA, USA","institution_ids":["https://openalex.org/I206426949"]},{"raw_affiliation_string":"[Division of Engineering, Southern Polytechnic State University, Marietta, GA 30060 USA]","institution_ids":["https://openalex.org/I206426949"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077953037","display_name":"Clarence W. de Silva","orcid":"https://orcid.org/0000-0002-5871-639X"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Clarence W de Silva","raw_affiliation_strings":["Mech. Eng. Dept., Univ. of British Columbia, Vancouver, BC, Canada","Mechanical Engineering Department, the University of British Columbia, Vancouver, V6T 1Z4, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mech. Eng. Dept., Univ. of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Mechanical Engineering Department, the University of British Columbia, Vancouver, V6T 1Z4, Canada","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.17987498,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"317","last_page":"321"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/visual-servoing","display_name":"Visual servoing","score":0.8621169328689575},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7513893842697144},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7165570855140686},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6194735169410706},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.5960949659347534},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5854106545448303},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.5744987726211548},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.565698504447937},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5547809600830078},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4921843111515045},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4882669448852539},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.48742082715034485},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48484694957733154},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4511042833328247},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.43415412306785583},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.40585044026374817},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4003335237503052},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.29511404037475586},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29127037525177},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09908229112625122}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8621169328689575},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7513893842697144},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7165570855140686},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6194735169410706},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.5960949659347534},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5854106545448303},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.5744987726211548},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.565698504447937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5547809600830078},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4921843111515045},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4882669448852539},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.48742082715034485},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48484694957733154},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4511042833328247},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.43415412306785583},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.40585044026374817},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4003335237503052},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.29511404037475586},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29127037525177},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09908229112625122},{"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},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca.2010.5524062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2010.5524062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ICCA 2010","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6200000047683716,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2082991751","https://openalex.org/W2111691855","https://openalex.org/W2167501464","https://openalex.org/W2168381979","https://openalex.org/W3156347756","https://openalex.org/W4245550013"],"related_works":["https://openalex.org/W2067224748","https://openalex.org/W2118874485","https://openalex.org/W2137020204","https://openalex.org/W2101588601","https://openalex.org/W2149271580","https://openalex.org/W1541344580","https://openalex.org/W1971180730","https://openalex.org/W1604883287","https://openalex.org/W2939826963","https://openalex.org/W1992875002"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"visual-servo":[3,61],"control":[4,40],"for":[5,143],"robust":[6],"motion":[7,42],"of":[8,17,43,59,67,92,94,132],"a":[9,18,25,31,47,57,98,113,146],"wheeled":[10,19],"mobile":[11,22,115,138],"robot.":[12],"First,":[13],"the":[14,41,44,68,86,90,95,104],"kinematic":[15],"model":[16],"Pioneer":[20],"DX3TM":[21],"robot":[23,45,116],"with":[24,76,127],"CCD":[26],"camera":[27,96],"is":[28,37,56,101,110,141],"generated.":[29],"Second,":[30],"linear":[32],"quadratic":[33],"regulator":[34],"(LQR)":[35],"law":[36],"developed":[38,108],"to":[39,46,74,129],"goal":[48],"location":[49],"(grasping":[50],"location).":[51],"The":[52,107,136],"derived":[53],"controller,":[54,63],"which":[55],"form":[58],"image-based":[60],"(IBVS)":[62],"guarantees":[64],"asymptotic":[65],"stability":[66],"closed-loop":[69],"system.":[70],"Furthermore,":[71],"in":[72,81,89,103,112,145],"order":[73],"cope":[75],"an":[77],"important":[78],"robustness":[79],"issue":[80],"visual":[82,87],"servoing":[83],"-":[84,97],"maintaining":[85],"features":[88],"field":[91],"view":[93],"velocity":[99],"constraint":[100],"set":[102],"implementation":[105],"program.":[106],"approach":[109],"implemented":[111],"laboratory":[114],"and":[117,121,134],"tested.":[118],"Both":[119],"simulation":[120],"experimental":[122],"results":[123],"show":[124],"good":[125],"performance":[126],"respect":[128],"robustness,":[130],"speed":[131],"response,":[133],"accuracy.":[135],"presented":[137],"manipulation":[139],"system":[140],"intended":[142],"use":[144],"multi-robot":[147],"cooperative":[148],"project.":[149]},"counts_by_year":[{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}