{"id":"https://openalex.org/W2738077577","doi":"https://doi.org/10.1109/icra.2017.7989285","title":"Designing for uniform mobility using holonomicity","display_name":"Designing for uniform mobility using holonomicity","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2738077577","doi":"https://doi.org/10.1109/icra.2017.7989285","mag":"2738077577"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989285","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989285","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/A5050113344","display_name":"John Tighe Costa","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Tighe Costa","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, PA, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, PA, US","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["Dept. of Mech. Eng. and Applied Mechanics, Univ. of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mech. Eng. and Applied Mechanics, Univ. of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2448","last_page":"2453"},"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":0.9993000030517578,"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":0.9993000030517578,"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":0.9990000128746033,"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":0.9977999925613403,"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/ellipsoid","display_name":"Ellipsoid","score":0.7901860475540161},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.769917368888855},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.7215182781219482},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6750342845916748},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6532465815544128},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5198055505752563},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3825961947441101},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19726285338401794},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1512024998664856},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08487555384635925},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06270498037338257}],"concepts":[{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.7901860475540161},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.769917368888855},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.7215182781219482},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6750342845916748},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6532465815544128},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5198055505752563},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3825961947441101},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19726285338401794},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1512024998664856},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08487555384635925},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06270498037338257},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989285","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989285","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.44999998807907104}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1769309333","https://openalex.org/W1982977457","https://openalex.org/W2049410986","https://openalex.org/W2054130451","https://openalex.org/W2073924944","https://openalex.org/W2095936905","https://openalex.org/W2135142528","https://openalex.org/W2171396885","https://openalex.org/W2288924176","https://openalex.org/W6696439753"],"related_works":["https://openalex.org/W2005485125","https://openalex.org/W2390718407","https://openalex.org/W4399671601","https://openalex.org/W1986006778","https://openalex.org/W2034124193","https://openalex.org/W2056060483","https://openalex.org/W2085363807","https://openalex.org/W2379017606","https://openalex.org/W2171970890","https://openalex.org/W1992962589"],"abstract_inverted_index":{"Holonomic":[0],"systems":[1],"are":[2],"often":[3],"complex":[4],"and":[5,21],"expensive":[6],"with":[7,23],"poor":[8],"terrain":[9,25],"handling":[10,26],"capabilities.":[11],"This":[12],"paper":[13],"introduces":[14],"HAMR,":[15],"a":[16,32,43,49,61],"platform":[17],"that":[18,79],"is":[19,46,73,77],"simple":[20],"low-cost":[22],"good":[24],"capabilities":[27],"which":[28,60],"was":[29],"designed":[30],"using":[31],"new":[33],"method":[34],"for":[35],"characterizing":[36],"mobility.":[37],"A":[38,52],"mobility":[39],"ellipsoid":[40],"(analogous":[41],"to":[42,59],"manipulability":[44],"ellipsoid)":[45],"introduced":[47],"as":[48,87],"design":[50],"tool.":[51],"metric":[53],"called":[54],"holonomicity":[55,70,86],"measures":[56],"the":[57],"extent":[58],"vehicle":[62],"can":[63,82],"move":[64],"equally":[65],"in":[66],"all":[67],"directions.":[68],"The":[69],"of":[71],"HAMR":[72],"measured":[74],"experimentally.":[75],"It":[76],"shown":[78],"non-holonomic":[80],"vehicles":[81],"have":[83],"relatively":[84],"high":[85],"well.":[88]},"counts_by_year":[{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}