{"id":"https://openalex.org/W2411959940","doi":"https://doi.org/10.1109/icra.2016.7487387","title":"Cooperative redundant omnidirectional mobile manipulators: Model-free decentralized integral sliding modes and passive velocity fields","display_name":"Cooperative redundant omnidirectional mobile manipulators: Model-free decentralized integral sliding modes and passive velocity fields","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2411959940","doi":"https://doi.org/10.1109/icra.2016.7487387","mag":"2411959940"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487387","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/A5075536867","display_name":"A.-N. Ponce-Hinestroza","orcid":null},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"A.-N. Ponce-Hinestroza","raw_affiliation_strings":["Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies (Cinvestav), Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies (Cinvestav), Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053193474","display_name":"J.-A. Castro-Castro","orcid":null},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"J.-A. Castro-Castro","raw_affiliation_strings":["Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies (Cinvestav), Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies (Cinvestav), Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053704723","display_name":"H.-I. Guerrero-Reyes","orcid":null},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"H.-I. Guerrero-Reyes","raw_affiliation_strings":["Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies (Cinvestav), Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies (Cinvestav), Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028434777","display_name":"Vicente Parra\u2010Vega","orcid":"https://orcid.org/0000-0002-1813-0394"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"V. Parra-Vega","raw_affiliation_strings":["Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies (Cinvestav), Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies (Cinvestav), Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053105506","display_name":"Ernesto Olgu\u00edn-D\u00edaz","orcid":"https://orcid.org/0000-0001-9721-191X"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"E. Olguin-Diaz","raw_affiliation_strings":["Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies (Cinvestav), Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies (Cinvestav), Mexico","institution_ids":["https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I68368234"],"apc_list":null,"apc_paid":null,"fwci":4.8441,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.96261354,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2375","last_page":"2380"},"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":0.9994999766349792,"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":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6954729557037354},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6846518516540527},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6140432953834534},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.5146611332893372},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4849710464477539},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48303136229515076},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.4483727216720581},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.41129791736602783},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36704736948013306},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35865795612335205},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3450416922569275},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2055656611919403},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20467084646224976}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6954729557037354},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6846518516540527},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6140432953834534},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.5146611332893372},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4849710464477539},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48303136229515076},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.4483727216720581},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.41129791736602783},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36704736948013306},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35865795612335205},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3450416922569275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2055656611919403},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20467084646224976},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487387","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W79475893","https://openalex.org/W1500101844","https://openalex.org/W1507328361","https://openalex.org/W1595548219","https://openalex.org/W1967154582","https://openalex.org/W2036288719","https://openalex.org/W2039035433","https://openalex.org/W2042803738","https://openalex.org/W2051155494","https://openalex.org/W2052504701","https://openalex.org/W2066797019","https://openalex.org/W2097005306","https://openalex.org/W2100805923","https://openalex.org/W2112474089","https://openalex.org/W2112582373","https://openalex.org/W2115621646","https://openalex.org/W2131384020","https://openalex.org/W2135229627","https://openalex.org/W2155675828","https://openalex.org/W2158970259","https://openalex.org/W2164538850","https://openalex.org/W2287940679","https://openalex.org/W2325200029","https://openalex.org/W2552804668","https://openalex.org/W2601879389","https://openalex.org/W4235770523","https://openalex.org/W6629763010","https://openalex.org/W6674909155","https://openalex.org/W6676619607","https://openalex.org/W7043936232"],"related_works":["https://openalex.org/W2281200235","https://openalex.org/W84202494","https://openalex.org/W2577491335","https://openalex.org/W2069596755","https://openalex.org/W2045978853","https://openalex.org/W2166825355","https://openalex.org/W2115907340","https://openalex.org/W4391071665","https://openalex.org/W1980553196","https://openalex.org/W2098039291"],"abstract_inverted_index":{"An":[0],"omnidirectional":[1,22,144],"mobile":[2,23],"manipulator":[3],"(OMM)":[4],"provides":[5,146],"extended":[6],"capabilities":[7],"to":[8,75,136,154,177],"a":[9,28,63,68,109,204],"robotic":[10],"system":[11,201],"since":[12],"it":[13,60,126],"enlarges":[14],"its":[15],"workspace":[16],"at":[17],"the":[18,36,81,118,123,132,137,140,158,164,171,189],"expense":[19],"of":[20,70,102,117,139],"an":[21,34],"base,":[24],"which":[25,160,181],"is":[26,41,61,106,127,161],"nowadays":[27],"reality.":[29],"When":[30],"various":[31],"OMM":[32,39,200],"transport":[33],"object,":[35],"resultant":[37],"constrained":[38],"dynamics":[40,113],"quite":[42],"complex":[43],"that":[44,111],"demands":[45],"effective":[46],"control":[47,66,91,173],"schemes":[48],"without":[49],"neglecting":[50],"dominant":[51],"nonlinear":[52],"effects":[53],"nor":[54,114],"interaction":[55,115],"forces.":[56],"In":[57],"this":[58],"paper,":[59],"proposed":[62],"decentralized":[64,107],"cooperative":[65,128],"for":[67,122,195],"set":[69],"k":[71],"OMMs":[72],"(k-OMM)":[73],"subject":[74],"homogeneous":[76],"holonomic":[77],"constraints":[78],"imposed":[79],"by":[80,129],"object":[82,147,179],"being":[83],"manipulated.":[84],"A":[85],"chatterless":[86],"integral":[87],"sliding":[88],"mode":[89],"force-position":[90],"guarantees":[92],"exponential":[93],"tracking":[94],"whose":[95],"implementation":[96],"does":[97],"not":[98],"require":[99],"any":[100],"knowledge":[101],"dynamics.":[103],"This":[104],"controller":[105],"in":[108,203],"sense":[110],"neither":[112],"forces":[116,176],"i-OMM":[119],"are":[120,182,193],"required":[121],"j-controller,":[124],"and":[125,170],"correcting":[130],"collectively":[131],"velocity":[133,152],"deviation":[134],"due":[135],"pushing":[138],"other":[141],"j-OMM.":[142],"Each":[143],"base":[145],"mobility":[148],"along":[149],"passive":[150],"smooth":[151],"fields":[153],"avoid":[155],"obstacles":[156],"on":[157],"floor,":[159],"synthesized":[162],"as":[163,188],"secondary":[165],"task":[166],"when":[167],"resolving":[168],"redundancy,":[169],"force":[172],"stabilizes":[174],"internal":[175],"ensure":[178],"grasp,":[180],"declared":[183],"together":[184],"with":[185],"end-effector":[186],"position,":[187],"primary":[190],"task.":[191],"Simulations":[192],"discussed":[194],"two":[196],"8-DoF":[197],"Kuka":[198],"youBot":[199],"navigating":[202],"cluttered":[205],"environment.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}