{"id":"https://openalex.org/W1984837330","doi":"https://doi.org/10.1109/icra.2012.6225202","title":"Model predictive navigation for position and orientation control of nonholonomic vehicles","display_name":"Model predictive navigation for position and orientation control of nonholonomic vehicles","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1984837330","doi":"https://doi.org/10.1109/icra.2012.6225202","mag":"1984837330"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225202","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225202","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/A5006022077","display_name":"Konstantinos Karydis","orcid":"https://orcid.org/0000-0002-1144-8260"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Konstantinos Karydis","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, USA","[Department of Mechanical Engineering, University of Delaware, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, USA","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"[Department of Mechanical Engineering, University of Delaware, USA]","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090138774","display_name":"Luis Valbuena","orcid":null},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Valbuena","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, USA","[Department of Mechanical Engineering, University of Delaware, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, USA","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"[Department of Mechanical Engineering, University of Delaware, USA]","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059465693","display_name":"Herbert G. Tanner","orcid":"https://orcid.org/0000-0002-2069-8544"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Herbert G. Tanner","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, USA","[Department of Mechanical Engineering, University of Delaware, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, USA","institution_ids":["https://openalex.org/I86501945"]},{"raw_affiliation_string":"[Department of Mechanical Engineering, University of Delaware, USA]","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5553,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.66806173,"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":"3206","last_page":"3211"},"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":0.9991999864578247,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.8045063018798828},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7847800850868225},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.7383622527122498},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.7172890901565552},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6983398795127869},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5611258149147034},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5605660676956177},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.5474026203155518},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5131986737251282},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4974961578845978},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36108002066612244},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2842062711715698},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2598726153373718},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2542870044708252},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22992083430290222},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17806443572044373},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0677308440208435}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8045063018798828},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7847800850868225},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7383622527122498},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.7172890901565552},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6983398795127869},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5611258149147034},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5605660676956177},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.5474026203155518},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5131986737251282},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4974961578845978},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36108002066612244},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2842062711715698},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2598726153373718},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2542870044708252},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22992083430290222},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17806443572044373},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0677308440208435},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6225202","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225202","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:10.1.1.386.1016","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.386.1016","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://research.me.udel.edu/~btanner/Papers/icra12final.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W292508636","https://openalex.org/W1521785144","https://openalex.org/W1551360398","https://openalex.org/W1552094772","https://openalex.org/W1588458377","https://openalex.org/W1592648094","https://openalex.org/W1671813167","https://openalex.org/W1963835453","https://openalex.org/W1971044547","https://openalex.org/W1988505764","https://openalex.org/W1993171261","https://openalex.org/W2066126065","https://openalex.org/W2076738229","https://openalex.org/W2108508199","https://openalex.org/W2109014985","https://openalex.org/W2110144538","https://openalex.org/W2137984751","https://openalex.org/W2143944569","https://openalex.org/W2148993855","https://openalex.org/W2153884484","https://openalex.org/W2154414031","https://openalex.org/W2162726844","https://openalex.org/W2165286986","https://openalex.org/W2168027532","https://openalex.org/W2171841639","https://openalex.org/W2563402321","https://openalex.org/W2891058491","https://openalex.org/W3102923851","https://openalex.org/W3152303746","https://openalex.org/W4235554369","https://openalex.org/W4293078920","https://openalex.org/W6642962755"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2293606346","https://openalex.org/W1967307436","https://openalex.org/W2799225442","https://openalex.org/W2895956935"],"abstract_inverted_index":{"In":[0,87],"this":[1,88],"paper":[2],"we":[3],"consider":[4],"a":[5,12,39,45,56,104],"nonholonomic":[6],"system":[7],"in":[8,55,98],"the":[9,18,51,95],"form":[10],"of":[11,44,65],"unicycle":[13],"and":[14,24,49,68],"steer":[15],"it":[16],"to":[17,27,102],"origin":[19],"so":[20],"that":[21,58],"both":[22,66],"position":[23,67],"orientation":[25,69],"converge":[26],"zero":[28],"while":[29],"avoiding":[30],"obstacles.":[31],"We":[32],"introduce":[33],"an":[34,77],"artificial":[35],"reference":[36],"field,":[37],"propose":[38],"discontinuous":[40],"control":[41],"policy":[42],"consisting":[43],"receding":[46,99],"horizon":[47,100],"strategy":[48],"implement":[50],"resulting":[52],"field-based":[53],"controller":[54],"way":[57],"theoretically":[59],"guarantees":[60],"for":[61,80,94],"collision":[62],"avoidance;":[63],"convergence":[64],"can":[70],"also":[71],"be":[72,103],"established.":[73],"The":[74],"analysis":[75],"integrates":[76],"invariance":[78],"principle":[79],"differential":[81],"inclusions":[82],"with":[83],"model":[84],"predictive":[85],"control.":[86],"approach":[89],"there":[90],"is":[91],"no":[92],"need":[93],"terminal":[96],"cost":[97],"optimization":[101],"positive":[105],"definite":[106],"function.":[107]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}