{"id":"https://openalex.org/W2052843966","doi":"https://doi.org/10.1109/icra.2012.6224970","title":"Integrated planning and control for graceful navigation of shape-accelerated underactuated balancing mobile robots","display_name":"Integrated planning and control for graceful navigation of shape-accelerated underactuated balancing mobile robots","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2052843966","doi":"https://doi.org/10.1109/icra.2012.6224970","mag":"2052843966"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224970","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224970","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":"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/A5005548471","display_name":"Umashankar Nagarajan","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Umashankar Nagarajan","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067346459","display_name":"George Kantor","orcid":"https://orcid.org/0000-0001-7088-8533"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George Kantor","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113484919","display_name":"Ralph Hollis","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ralph Hollis","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"136","last_page":"141"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","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/T10586","display_name":"Robotic Path Planning Algorithms","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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9990000128746033,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9943000078201294,"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/computer-science","display_name":"Computer science","score":0.6924959421157837},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5976227521896362},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5751583576202393},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5575279593467712},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5469865202903748},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5124548077583313},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4822571873664856},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4713206887245178},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.4678208529949188},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.442987322807312},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.43971163034439087},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.41678574681282043},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41387084126472473},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3652780055999756},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3648427724838257},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33698785305023193},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32856374979019165},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2968962788581848},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15503284335136414},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10170915722846985},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08721715211868286}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6924959421157837},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5976227521896362},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5751583576202393},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5575279593467712},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5469865202903748},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5124548077583313},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4822571873664856},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4713206887245178},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.4678208529949188},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.442987322807312},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.43971163034439087},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.41678574681282043},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41387084126472473},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3652780055999756},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3648427724838257},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33698785305023193},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32856374979019165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2968962788581848},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15503284335136414},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10170915722846985},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08721715211868286},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2012.6224970","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224970","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.363.8424","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.363.8424","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.msl.ri.cmu.edu/publications/pdfs/Ballbot_GracefulNavigation_ICRA.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.640.4044","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.640.4044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/2012/5/Ballbot_GracefulNavigation_ICRA.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W294477637","https://openalex.org/W1506991761","https://openalex.org/W1992338761","https://openalex.org/W2003835006","https://openalex.org/W2058379082","https://openalex.org/W2100538121","https://openalex.org/W2132714442","https://openalex.org/W2138343952","https://openalex.org/W2142687309","https://openalex.org/W2145401835","https://openalex.org/W2145448632","https://openalex.org/W2152705948","https://openalex.org/W2153219011","https://openalex.org/W2161798487","https://openalex.org/W2164402964","https://openalex.org/W2169528473","https://openalex.org/W2294943854","https://openalex.org/W3013983152","https://openalex.org/W4236494677","https://openalex.org/W4249088335","https://openalex.org/W6610566608","https://openalex.org/W6630270669","https://openalex.org/W6681227949","https://openalex.org/W6697254242","https://openalex.org/W6775299407"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W4206668738","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"controllers":[3],"called":[4],"motion":[5,28,47,84,101],"policies":[6,29,48,85],"that":[7,33],"achieve":[8,87],"fast,":[9],"graceful":[10,40],"motions":[11,117],"in":[12,79],"small,":[13],"collision-free":[14],"domains":[15],"of":[16,53,63,82,105,109],"the":[17,25,54,61,80,88,100,119],"position":[18],"space":[19,81],"for":[20],"balancing":[21],"mobile":[22],"robots":[23],"like":[24],"ballbot.":[26],"The":[27,103],"are":[30,122],"designed":[31],"such":[32],"their":[34,64],"valid":[35],"compositions":[36],"will":[37],"produce":[38],"overall":[39],"motions.":[41],"An":[42],"automatic":[43],"instantiation":[44],"procedure":[45],"deploys":[46],"on":[49,118],"a":[50,58,69],"2D":[51],"map":[52],"environment":[55],"to":[56,77,86,97],"form":[57],"library":[59],"and":[60,115],"validity":[62],"composition":[65],"is":[66,75,95],"given":[67],"by":[68],"gracefully":[70],"prepares":[71],"graph.":[72],"Dijsktra's":[73],"algorithm":[74],"used":[76,96],"plan":[78],"these":[83],"desired":[89],"navigation":[90,111],"task.":[91],"A":[92],"hybrid":[93],"controller":[94],"switch":[98],"between":[99],"policies.":[102],"results":[104],"successful":[106],"experimental":[107],"testing":[108],"two":[110],"tasks,":[112],"namely,":[113],"point-point":[114],"surveillance":[116],"ballbot":[120],"platform":[121],"presented.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}