{"id":"https://openalex.org/W2136423569","doi":"https://doi.org/10.1109/icra.2012.6224684","title":"Path-following control of a velocity constrained tracked vehicle incorporating adaptive slip estimation","display_name":"Path-following control of a velocity constrained tracked vehicle incorporating adaptive slip estimation","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2136423569","doi":"https://doi.org/10.1109/icra.2012.6224684","mag":"2136423569"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224684","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5059032849","display_name":"Michael Burke","orcid":"https://orcid.org/0000-0001-7426-1498"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Michael Burke","raw_affiliation_strings":["Mobile Intelligent Autonomous Systems research group of the CSIR, South Africa"],"affiliations":[{"raw_affiliation_string":"Mobile Intelligent Autonomous Systems research group of the CSIR, South Africa","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5059032849"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.6789,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.95835853,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"97","last_page":"102"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9954000115394592,"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":0.9944000244140625,"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/estimator","display_name":"Estimator","score":0.727657675743103},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6777061223983765},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6739044189453125},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.6320135593414307},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5743234157562256},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4781319200992584},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.47588789463043213},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4649442732334137},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4594572186470032},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.4309194087982178},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26550281047821045},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2204228937625885},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1663605272769928},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14706844091415405},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12435123324394226}],"concepts":[{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.727657675743103},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6777061223983765},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6739044189453125},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.6320135593414307},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5743234157562256},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4781319200992584},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.47588789463043213},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4649442732334137},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4594572186470032},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.4309194087982178},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26550281047821045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2204228937625885},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1663605272769928},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14706844091415405},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12435123324394226},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6224684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224684","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W75509891","https://openalex.org/W1484387568","https://openalex.org/W1497594424","https://openalex.org/W1534712813","https://openalex.org/W1570525223","https://openalex.org/W1858012409","https://openalex.org/W1987424218","https://openalex.org/W2033110403","https://openalex.org/W2067603665","https://openalex.org/W2112614377","https://openalex.org/W2122561468","https://openalex.org/W2127516259","https://openalex.org/W2132365895","https://openalex.org/W2152479773","https://openalex.org/W2172117433","https://openalex.org/W2798534591","https://openalex.org/W2977668700","https://openalex.org/W6631974710","https://openalex.org/W6634139171","https://openalex.org/W6676879269","https://openalex.org/W6682303050"],"related_works":["https://openalex.org/W1889129279","https://openalex.org/W4387451989","https://openalex.org/W2532412374","https://openalex.org/W2063137106","https://openalex.org/W23275807","https://openalex.org/W2358715846","https://openalex.org/W2761234876","https://openalex.org/W4229455305","https://openalex.org/W2139551654","https://openalex.org/W4235718155"],"abstract_inverted_index":{"This":[0,68],"work":[1],"presents":[2],"a":[3,14,59,81,86,121,146,158],"model":[4,122,148],"predictive":[5,123],"path-following":[6],"controller,":[7,124],"which":[8],"incorporates":[9],"adaptive":[10,88],"slip":[11,46,99,152],"estimation":[12,139],"for":[13,45],"tracked":[15],"vehicle.":[16],"Tracked":[17],"vehicles":[18],"are":[19,106,154],"capable":[20],"of":[21,58,120,129,136],"manoeuvring":[22],"in":[23,31,47,161],"highly":[24],"variable":[25],"and":[26,55,140,156],"uneven":[27],"terrain,":[28],"but":[29,63,116],"difficulties":[30],"their":[32,37],"control":[33],"have":[34],"traditionally":[35],"limited":[36],"use":[38,119],"as":[39],"autonomous":[40],"platforms.":[41],"Attempts":[42],"to":[43,75,92,97,126,132,149],"compensate":[44],"environments":[48],"typically":[49],"require":[50],"that":[51,71],"both":[52],"the":[53,127,134,137],"forward":[54],"rotational":[56],"velocities":[57],"platform":[60,103],"be":[61,66],"determined,":[62],"this":[64],"can":[65],"challenging.":[67],"paper":[69],"shows":[70],"it":[72],"is":[73,108,113],"possible":[74],"estimate":[76],"vehicle":[77],"traction":[78],"using":[79,145],"only":[80],"rate":[82],"gyroscope,":[83],"by":[84],"providing":[85],"suitable":[87],"least":[89],"squares":[90],"estimator":[91],"do":[93],"so.":[94],"An":[95],"approach":[96,112],"generating":[98],"compensating":[100],"controls":[101],"when":[102],"velocity":[104],"constraints":[105],"applied":[107],"also":[109],"presented.":[110],"The":[111],"controller":[114,162],"independent,":[115],"we":[117],"make":[118],"vulnerable":[125],"effects":[128],"model-plant":[130],"mismatch,":[131],"highlight":[133],"efficacy":[135],"proposed":[138],"compensation.":[141],"Path":[142],"following":[143],"results":[144],"mixture":[147],"generate":[150],"feasible":[151],"values":[153],"presented,":[155],"show":[157],"significant":[159],"increase":[160],"performance.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}