{"id":"https://openalex.org/W2417142630","doi":"https://doi.org/10.1109/icra.2016.7487316","title":"Closed-loop 3D path following of scaled-up helical microswimmers","display_name":"Closed-loop 3D path following of scaled-up helical microswimmers","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2417142630","doi":"https://doi.org/10.1109/icra.2016.7487316","mag":"2417142630"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487316","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487316","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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/A5077064083","display_name":"Ali Oulmas","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I53262699","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et des Microtechniques","ror":"https://ror.org/05813w841","country_code":"FR","type":"education","lineage":["https://openalex.org/I53262699"]},{"id":"https://openalex.org/I90843659","display_name":"Universit\u00e9 de Franche-Comt\u00e9","ror":"https://ror.org/03pcc9z86","country_code":"FR","type":"education","lineage":["https://openalex.org/I90843659"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ali Oulmas","raw_affiliation_strings":["FEMTO-ST Institute, CNRS/University of Franche-Comt\u00e9/ENSMM/UTBM, Besan\u00e7on, France","Institut des Syst\u00e9mes Intelligents et Robotique, University of Pierre & Marie Curie, Paris, France","FEMTO-ST Institute, CNRS/University of Franche-Comt\u00e9/ENSMM/UTBM, Besan\u00e7on, France; Institut des Syst\u00e9mes Intelligents et Robotique, University of Pierre & Marie Curie, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FEMTO-ST Institute, CNRS/University of Franche-Comt\u00e9/ENSMM/UTBM, Besan\u00e7on, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I53262699","https://openalex.org/I90843659"]},{"raw_affiliation_string":"Institut des Syst\u00e9mes Intelligents et Robotique, University of Pierre & Marie Curie, Paris, France","institution_ids":["https://openalex.org/I4210150358"]},{"raw_affiliation_string":"FEMTO-ST Institute, CNRS/University of Franche-Comt\u00e9/ENSMM/UTBM, Besan\u00e7on, France; Institut des Syst\u00e9mes Intelligents et Robotique, University of Pierre & Marie Curie, Paris, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I4210150358","https://openalex.org/I53262699","https://openalex.org/I90843659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000816393","display_name":"Nicolas Andreff","orcid":"https://orcid.org/0000-0001-5687-5533"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I53262699","display_name":"\u00c9cole Nationale Sup\u00e9rieure de M\u00e9canique et des Microtechniques","ror":"https://ror.org/05813w841","country_code":"FR","type":"education","lineage":["https://openalex.org/I53262699"]},{"id":"https://openalex.org/I90843659","display_name":"Universit\u00e9 de Franche-Comt\u00e9","ror":"https://ror.org/03pcc9z86","country_code":"FR","type":"education","lineage":["https://openalex.org/I90843659"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Andreff","raw_affiliation_strings":["FEMTO-ST Institute, CNRS/University of Franche-Comt\u00e9/ENSMM/UTBM, Besan\u00e7on, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FEMTO-ST Institute, CNRS/University of Franche-Comt\u00e9/ENSMM/UTBM, Besan\u00e7on, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I53262699","https://openalex.org/I90843659"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081525094","display_name":"Jean-Claude R\u00e9gnier","orcid":"https://orcid.org/0000-0001-6992-9027"},"institutions":[{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Stephane Regnier","raw_affiliation_strings":["Institut des Syst\u00e9mes Intelligents et Robotique, University of Pierre & Marie Curie, Paris, France","Institut des Syst\u00e9mes Intelligents et Robotique, University of Pierre & Marie Curie, 75005 Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut des Syst\u00e9mes Intelligents et Robotique, University of Pierre & Marie Curie, Paris, France","institution_ids":["https://openalex.org/I4210150358"]},{"raw_affiliation_string":"Institut des Syst\u00e9mes Intelligents et Robotique, University of Pierre & Marie Curie, 75005 Paris, France","institution_ids":["https://openalex.org/I4210150358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T13052","display_name":"Molecular Communication and Nanonetworks","score":0.9904999732971191,"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/control-theory","display_name":"Control theory (sociology)","score":0.7887294292449951},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.775202751159668},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7447165250778198},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6616263389587402},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.6434986591339111},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6248706579208374},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49238479137420654},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.4863887131214142},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.442254900932312},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.430675745010376},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.4282236099243164},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.26304107904434204},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21778008341789246},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19056686758995056},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.18102771043777466},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1755673587322235},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16888347268104553},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10528913140296936}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7887294292449951},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.775202751159668},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7447165250778198},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6616263389587402},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.6434986591339111},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6248706579208374},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49238479137420654},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.4863887131214142},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.442254900932312},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.430675745010376},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.4282236099243164},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.26304107904434204},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21778008341789246},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19056686758995056},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.18102771043777466},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1755673587322235},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16888347268104553},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10528913140296936},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487316","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487316","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1578882973","https://openalex.org/W1909834290","https://openalex.org/W1987732346","https://openalex.org/W2002675616","https://openalex.org/W2019541641","https://openalex.org/W2036241027","https://openalex.org/W2040779745","https://openalex.org/W2045195134","https://openalex.org/W2056370235","https://openalex.org/W2080051992","https://openalex.org/W2090061794","https://openalex.org/W2100661647","https://openalex.org/W2105555689","https://openalex.org/W2127988032","https://openalex.org/W2129870396","https://openalex.org/W2173320031","https://openalex.org/W6634637669"],"related_works":["https://openalex.org/W2322335058","https://openalex.org/W2259382430","https://openalex.org/W2133614587","https://openalex.org/W1973471730","https://openalex.org/W2397460850","https://openalex.org/W4322484979","https://openalex.org/W2088603790","https://openalex.org/W2020441249","https://openalex.org/W2051011957","https://openalex.org/W2546583032"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,32,35,42,55,68,108,113,116,122],"problem":[4],"of":[5,9,34,41,118],"3D":[6,69],"path":[7,70],"following":[8,71,85],"magnetic":[10,77],"helical":[11,36,78],"microswimmers":[12],"in":[13,19,58],"closed-loop.":[14],"An":[15],"error":[16],"kinematic":[17,56],"model":[18,57],"a":[20,62,75,87,92],"local":[21],"frame":[22],"with":[23,45,80,107],"sideslip":[24],"and":[25,48,95,115],"attack":[26],"angles":[27],"is":[28,51,72,104],"used":[29,52],"to":[30,53,60,111,121],"express":[31],"motion":[33],"microswimmer.":[37],"A":[38],"new":[39],"derivation":[40],"chained":[43],"form":[44],"three":[46],"inputs":[47],"five":[49],"states":[50],"linearize":[54],"order":[59],"design":[61],"decoupled":[63],"stable":[64],"control.":[65],"In":[66],"experimentation,":[67],"validated":[73],"using":[74],"scaled-up":[76],"microswimmer":[79],"visual":[81],"servo":[82],"control":[83,103,110],"by":[84],"first":[86],"spatial":[88],"straight":[89],"line,":[90],"then":[91],"helix":[93],"trajectory":[94],"finally":[96],"an":[97],"inclined":[98],"sinusoidal":[99],"trajectory.":[100],"The":[101],"closed-loop":[102],"also":[105],"compared":[106],"open-loop":[109],"illustrate":[112],"robustness":[114],"accuracy":[117],"both":[119],"controllers":[120],"disturbances.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
