{"id":"https://openalex.org/W2037442644","doi":"https://doi.org/10.1109/icca.2013.6564899","title":"A new way of understanding position error in wheeled mobile robots control problem","display_name":"A new way of understanding position error in wheeled mobile robots control problem","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2037442644","doi":"https://doi.org/10.1109/icca.2013.6564899","mag":"2037442644"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2013.6564899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2013.6564899","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","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/A5051626310","display_name":"Sining Pan","orcid":"https://orcid.org/0000-0002-5409-3367"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Sining Pan","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China","Dept. of Electron. Eng., TsingHua Univ., Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Dept. of Electron. Eng., TsingHua Univ., Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5120101396","display_name":"Jin Dai","orcid":"https://orcid.org/0000-0002-8841-8270"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jin Dai","raw_affiliation_strings":["Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN, USA","[Dept. of Electr. Eng., Univ. of Notre Dame, Notre Dame, IN, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN, USA","institution_ids":["https://openalex.org/I107639228"]},{"raw_affiliation_string":"[Dept. of Electr. Eng., Univ. of Notre Dame, Notre Dame, IN, USA]","institution_ids":["https://openalex.org/I107639228"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5051626310"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11555277,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"1471","last_page":"1478"},"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":1.0,"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":1.0,"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":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9972000122070312,"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":0.8032475113868713},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.7037180662155151},{"id":"https://openalex.org/keywords/imperfect","display_name":"Imperfect","score":0.6887910962104797},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6753895878791809},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.617608368396759},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5724014043807983},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5503841042518616},{"id":"https://openalex.org/keywords/position-error","display_name":"Position error","score":0.544366180896759},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.500255823135376},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.46152085065841675},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.45441895723342896},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.44513991475105286},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43684327602386475},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4211769998073578},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3513867259025574},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3439728617668152},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18697330355644226},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1363944709300995},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09085789322853088},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.08392137289047241}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.8032475113868713},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7037180662155151},{"id":"https://openalex.org/C2780310539","wikidata":"https://www.wikidata.org/wiki/Q12547192","display_name":"Imperfect","level":2,"score":0.6887910962104797},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6753895878791809},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.617608368396759},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5724014043807983},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5503841042518616},{"id":"https://openalex.org/C173064807","wikidata":"https://www.wikidata.org/wiki/Q7233190","display_name":"Position error","level":3,"score":0.544366180896759},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.500255823135376},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.46152085065841675},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45441895723342896},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.44513991475105286},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43684327602386475},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4211769998073578},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3513867259025574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3439728617668152},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18697330355644226},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1363944709300995},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09085789322853088},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.08392137289047241},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca.2013.6564899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2013.6564899","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 10th IEEE International Conference on Control and Automation (ICCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310260","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W633024118","https://openalex.org/W2008516441","https://openalex.org/W2036101221","https://openalex.org/W2097856935","https://openalex.org/W2133066324","https://openalex.org/W2163295544","https://openalex.org/W4292872153"],"related_works":["https://openalex.org/W2374250903","https://openalex.org/W1546413948","https://openalex.org/W2263832889","https://openalex.org/W2243884323","https://openalex.org/W42072456","https://openalex.org/W4243095785","https://openalex.org/W4387894447","https://openalex.org/W2366095669","https://openalex.org/W2361525295","https://openalex.org/W3096393112"],"abstract_inverted_index":{"The":[0],"problem":[1],"of":[2,4,25,43,71],"path-tracking":[3],"wheeled":[5],"mobile":[6],"robot":[7],"(WMR)":[8],"has":[9],"been":[10,17,38],"well":[11],"studied":[12],"and":[13,68],"many":[14],"algorithms":[15],"have":[16,37],"presented":[18],"to":[19,64,87],"solve":[20],"the":[21,26,44,89,103,109],"problem.":[22],"However,":[23],"most":[24],"existed":[27],"methods":[28],"are":[29],"based":[30],"on":[31,40,106],"Lyapunov":[32],"function":[33],"while":[34],"few":[35],"works":[36],"done":[39],"error":[41,76,95],"analysis":[42],"control":[45,80],"law":[46],"caused":[47,77],"by":[48,52,78,102],"imperfect":[49],"conditions,":[50],"especially":[51],"inaccurate":[53,79],"controlling.":[54],"In":[55],"this":[56],"paper,":[57],"a":[58,72,84],"discrete-time":[59],"system":[60],"model":[61],"is":[62,112],"established":[63],"obtain":[65],"both":[66],"theoretical":[67,110],"simulative":[69],"results":[70,105],"ground":[73],"robot's":[74],"position":[75,94],"actions.":[81],"We":[82],"provide":[83],"general":[85],"framework":[86],"analyze":[88],"problem,":[90],"which":[91],"enables":[92],"other":[93],"calculations":[96],"adopting":[97],"similar":[98],"method.":[99],"As":[100],"indicated":[101],"experimental":[104],"Pioneer-3DX":[107],"robots,":[108],"work":[111],"valid.":[113]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}