{"id":"https://openalex.org/W1586606240","doi":"https://doi.org/10.1109/icra.2015.7139252","title":"A time-optimal bounded velocity path-following controller for generic Wheeled Mobile Robots","display_name":"A time-optimal bounded velocity path-following controller for generic Wheeled Mobile Robots","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1586606240","doi":"https://doi.org/10.1109/icra.2015.7139252","mag":"1586606240"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139252","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139252","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5010048989","display_name":"Reza Oftadeh","orcid":"https://orcid.org/0000-0001-8319-598X"},"institutions":[{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":true,"raw_author_name":"Reza Oftadeh","raw_affiliation_strings":["Tampereen yliopisto - Hervannan kampus, Tampere, Pirkanmaa, FI","Intelligent Hydraulics and Automation Department, Tampere University of Technology, 33101, Finland"],"affiliations":[{"raw_affiliation_string":"Tampereen yliopisto - Hervannan kampus, Tampere, Pirkanmaa, FI","institution_ids":[]},{"raw_affiliation_string":"Intelligent Hydraulics and Automation Department, Tampere University of Technology, 33101, Finland","institution_ids":["https://openalex.org/I4210133110"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083665381","display_name":"Reza Ghabcheloo","orcid":"https://orcid.org/0000-0002-6043-4236"},"institutions":[{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Reza Ghabcheloo","raw_affiliation_strings":["Tampereen yliopisto - Hervannan kampus, Tampere, Pirkanmaa, FI","Intelligent Hydraulics and Automation Department, Tampere University of Technology, 33101, Finland"],"affiliations":[{"raw_affiliation_string":"Tampereen yliopisto - Hervannan kampus, Tampere, Pirkanmaa, FI","institution_ids":[]},{"raw_affiliation_string":"Intelligent Hydraulics and Automation Department, Tampere University of Technology, 33101, Finland","institution_ids":["https://openalex.org/I4210133110"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070792821","display_name":"Jouni Mattila","orcid":"https://orcid.org/0000-0003-1799-4323"},"institutions":[{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jouni Mattila","raw_affiliation_strings":["Tampereen yliopisto - Hervannan kampus, Tampere, Pirkanmaa, FI","Intelligent Hydraulics and Automation Department, Tampere University of Technology, 33101, Finland"],"affiliations":[{"raw_affiliation_string":"Tampereen yliopisto - Hervannan kampus, Tampere, Pirkanmaa, FI","institution_ids":[]},{"raw_affiliation_string":"Intelligent Hydraulics and Automation Department, Tampere University of Technology, 33101, Finland","institution_ids":["https://openalex.org/I4210133110"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5010048989"],"corresponding_institution_ids":["https://openalex.org/I4210133110"],"apc_list":null,"apc_paid":null,"fwci":2.3562,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.88959341,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"676","last_page":"683"},"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":0.9990000128746033,"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":0.975600004196167,"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/holonomic","display_name":"Holonomic","score":0.7796883583068848},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7131185531616211},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6361197829246521},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5808510780334473},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5626989603042603},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5620967149734497},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5492926239967346},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5387258529663086},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5255441069602966},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21426787972450256},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1349966824054718},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12514543533325195},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07212966680526733}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.7796883583068848},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7131185531616211},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6361197829246521},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5808510780334473},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5626989603042603},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5620967149734497},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5492926239967346},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5387258529663086},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5255441069602966},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21426787972450256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1349966824054718},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12514543533325195},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07212966680526733},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/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.2015.7139252","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139252","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/W32443946","https://openalex.org/W594210795","https://openalex.org/W1484387568","https://openalex.org/W1504985399","https://openalex.org/W1524252729","https://openalex.org/W1687739456","https://openalex.org/W1999426267","https://openalex.org/W2024509485","https://openalex.org/W2044732464","https://openalex.org/W2084342786","https://openalex.org/W2084917072","https://openalex.org/W2090426736","https://openalex.org/W2127516259","https://openalex.org/W2129496494","https://openalex.org/W2149012351","https://openalex.org/W2150531296","https://openalex.org/W2150922432","https://openalex.org/W3145188744","https://openalex.org/W4238739013","https://openalex.org/W6601323021","https://openalex.org/W6986421541"],"related_works":["https://openalex.org/W2056060483","https://openalex.org/W2156868854","https://openalex.org/W4244593870","https://openalex.org/W2131454054","https://openalex.org/W2109445039","https://openalex.org/W2897178038","https://openalex.org/W2801643600","https://openalex.org/W4383611656","https://openalex.org/W4385059443","https://openalex.org/W2021315563"],"abstract_inverted_index":{"This":[0],"paper,":[1],"as":[2,36],"a":[3,10,90,117],"generalization":[4],"of":[5,33,50,60,76,81,123],"our":[6,51],"previous":[7],"works,":[8],"presents":[9],"unified":[11],"time-optimal":[12],"path-following":[13,22,27,52],"controller":[14,53,115],"for":[15,29],"Wheeled":[16],"Mobile":[17],"Robots":[18],"(WMRs).":[19],"Unlike":[20],"other":[21],"controllers,":[23],"we":[24,88],"solve":[25],"the":[26,48,55,61,64,74,77,82,96,114,121,124],"problem":[28],"all":[30,40,95],"common":[31],"categories":[32],"WMRs":[34],"such":[35],"car-like,":[37],"differential,":[38],"omnidirectional,":[39],"wheels":[41],"steerable":[42],"and":[43,57,79,99,109],"others.":[44],"We":[45],"show":[46],"that":[47,80,93],"insertion":[49],"into":[54],"kinematic":[56],"non-holonomic":[58],"constraints":[59],"wheels,":[62],"simplifies":[63],"otherwise":[65],"impenetrable":[66],"constraints,":[67],"resulting":[68],"in":[69,116],"explicit":[70],"monotonic":[71],"functions":[72],"between":[73],"velocity":[75],"base":[78],"wheels.":[83],"Based":[84],"on":[85],"this":[86],"foundation,":[87],"present":[89],"closed-form":[91],"solution":[92],"keeps":[94],"wheels'":[97],"steering":[98],"driving":[100],"velocities":[101],"within":[102],"their":[103],"corresponding":[104],"pre-specified":[105],"bounds.":[106],"Simulation":[107],"data":[108],"experimental":[110],"results":[111],"from":[112],"executing":[113],"real-time":[118],"environment":[119],"demonstrate":[120],"efficacy":[122],"method.":[125]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}