{"id":"https://openalex.org/W2737125437","doi":"https://doi.org/10.1109/icra.2017.7989282","title":"Harnessing steering singularities in passive path following for robotic walkers","display_name":"Harnessing steering singularities in passive path following for robotic walkers","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2737125437","doi":"https://doi.org/10.1109/icra.2017.7989282","mag":"2737125437"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989282","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989282","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5011588154","display_name":"Marco Andreetto","orcid":"https://orcid.org/0000-0002-5616-2477"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Andreetto","raw_affiliation_strings":["Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069319288","display_name":"Stefano Divan","orcid":"https://orcid.org/0000-0002-8781-1011"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Divan","raw_affiliation_strings":["Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045097296","display_name":"Daniele Fontanelli","orcid":"https://orcid.org/0000-0002-5486-9989"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Fontanelli","raw_affiliation_strings":["Department of Industrial Engineering (DII), University of Trento, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering (DII), University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006224560","display_name":"Luigi Palopoli","orcid":"https://orcid.org/0000-0001-8813-8685"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Palopoli","raw_affiliation_strings":["Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I193223587"],"apc_list":null,"apc_paid":null,"fwci":3.0903,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.91858282,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2426","last_page":"2432"},"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":0.9998000264167786,"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":0.9998000264167786,"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":0.9973000288009644,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9947999715805054,"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/gravitational-singularity","display_name":"Gravitational singularity","score":0.7211856842041016},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.7066259384155273},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6995168924331665},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6799989342689514},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5770992636680603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5399001836776733},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5353876352310181},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4829765856266022},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.44866782426834106},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37832117080688477},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3615795969963074},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32005438208580017},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2889414429664612},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2580399513244629},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.21688640117645264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19776758551597595},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11195206642150879},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09804555773735046}],"concepts":[{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.7211856842041016},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.7066259384155273},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6995168924331665},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6799989342689514},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5770992636680603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5399001836776733},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5353876352310181},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4829765856266022},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.44866782426834106},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37832117080688477},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3615795969963074},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32005438208580017},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2889414429664612},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2580399513244629},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.21688640117645264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19776758551597595},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11195206642150879},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09804555773735046},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2017.7989282","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989282","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unitn.it:11572/197176","is_oa":false,"landing_page_url":"http://hdl.handle.net/11572/197176","pdf_url":null,"source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.41999998688697815,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W32443946","https://openalex.org/W1524252729","https://openalex.org/W1551450806","https://openalex.org/W1553616171","https://openalex.org/W1638798973","https://openalex.org/W1970295665","https://openalex.org/W1978737217","https://openalex.org/W2015101012","https://openalex.org/W2047851005","https://openalex.org/W2048315518","https://openalex.org/W2050152439","https://openalex.org/W2098836156","https://openalex.org/W2111800554","https://openalex.org/W2123552861","https://openalex.org/W2127988032","https://openalex.org/W2128341036","https://openalex.org/W2158742422","https://openalex.org/W2161710458","https://openalex.org/W2261483311","https://openalex.org/W2289994112","https://openalex.org/W2329844366","https://openalex.org/W2528946227","https://openalex.org/W2567027784","https://openalex.org/W2963186970","https://openalex.org/W6601323021"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2186140227","https://openalex.org/W2132535444","https://openalex.org/W2534185822","https://openalex.org/W2367651125","https://openalex.org/W2387936656","https://openalex.org/W2063297487","https://openalex.org/W2567073787"],"abstract_inverted_index":{"Assistive":[0],"passive":[1,75],"robotic":[2,82],"walkers":[3],"are":[4,125,140],"naturally":[5],"modelled":[6],"as":[7],"rear-driven":[8],"bicycle":[9],"with":[10,85],"control":[11,35,90],"on":[12,38,107,137],"the":[13,36,49,58,64,93,101,108,115,120,145,149,153,165],"front":[14,86],"steering":[15,87,109],"wheels.":[16,88],"Standard":[17],"path":[18,76],"following":[19,77],"algorithms":[20],"used":[21],"for":[22,67,79],"unicycle-like":[23],"robots":[24],"can":[25],"then":[26],"be":[27],"readily":[28],"available,":[29],"e.g.":[30,56],"using":[31],"backstepping":[32],"techniques,":[33],"to":[34,103,160],"walker":[37,83],"desired":[39],"paths.":[40],"However,":[41],"such":[42],"an":[43,80],"approach":[44],"is":[45,97],"usually":[46],"singular":[47],"in":[48,119,131,157],"very":[50],"common":[51],"situation":[52],"of":[53,114,122,148,155],"zero":[54],"velocity,":[55],"whenever":[57],"vehicle":[59],"starts":[60],"its":[61],"motion":[62],"or":[63],"user":[65],"stops":[66],"any":[68],"reason.":[69],"The":[70,89,111],"paper":[71],"proposes":[72],"a":[73],"non-singular":[74,116],"algorithm":[78],"assistive":[81],"equipped":[84],"law":[91],"avoids":[92],"singularities,":[94],"since":[95],"it":[96],"velocity-independent,":[98],"and":[99,129,152],"allows":[100],"designer":[102],"specify":[104],"saturation":[105,123],"limits":[106],"angles.":[110],"converging":[112],"properties":[113],"velocity-independent":[117],"controller":[118,151],"presence":[121],"constraints":[124],"firstly":[126],"formally":[127],"proved":[128],"tested":[130],"simulations.":[132],"Then":[133],"extensive":[134],"experiments":[135],"performed":[136],"14":[138],"testers":[139],"presented.":[141],"These":[142],"tests":[143],"underline":[144],"promising":[146],"performance":[147],"proposed":[150],"importance":[154],"singularities-avoidance":[156],"real-world":[158],"scenarios":[159],"increase":[161],"human":[162],"comfort":[163],"along":[164],"planned":[166],"trajectory.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
