{"id":"https://openalex.org/W4413926190","doi":"https://doi.org/10.1109/icra55743.2025.11128425","title":"Combined Modal Robust Cascade Control for Wheeled Self-Reconfigurable Robots Under Drive Failure and Safety Threat","display_name":"Combined Modal Robust Cascade Control for Wheeled Self-Reconfigurable Robots Under Drive Failure and Safety Threat","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926190","doi":"https://doi.org/10.1109/icra55743.2025.11128425"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128425","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5101753343","display_name":"Tao Jiang","orcid":"https://orcid.org/0000-0002-2462-3275"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tao Jiang","raw_affiliation_strings":["School of Automation, Chongqing University,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101988749","display_name":"Jianxiang Wang","orcid":"https://orcid.org/0000-0001-5531-2915"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianxiang Wang","raw_affiliation_strings":["School of Automation, Chongqing University,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109542147","display_name":"Zhi Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Zheng","raw_affiliation_strings":["School of Automation, Chongqing University,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091380197","display_name":"Rong Mo","orcid":"https://orcid.org/0000-0002-3331-7288"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rongqin Mo","raw_affiliation_strings":["School of Automation, Chongqing University,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025102253","display_name":"Yizhuo Sun","orcid":"https://orcid.org/0000-0003-4264-5723"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yizhuo Sun","raw_affiliation_strings":["School of Automation, Chongqing University,Chongqing,China,400044"],"affiliations":[{"raw_affiliation_string":"School of Automation, Chongqing University,Chongqing,China,400044","institution_ids":["https://openalex.org/I158842170"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101753343"],"corresponding_institution_ids":["https://openalex.org/I158842170"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3105547,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5467","last_page":"5473"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.8302000164985657,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.8302000164985657,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11741","display_name":"Flexible and Reconfigurable Manufacturing Systems","score":0.8270000219345093,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12810","display_name":"Real-time simulation and control systems","score":0.815500020980835,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.6657185554504395},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.5972108244895935},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5675045847892761},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5488061904907227},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41752147674560547},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3505980968475342},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3007700443267822},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.15723729133605957},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15489983558654785}],"concepts":[{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.6657185554504395},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5972108244895935},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5675045847892761},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5488061904907227},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41752147674560547},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3505980968475342},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3007700443267822},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.15723729133605957},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15489983558654785},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128425","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G523305680","display_name":null,"funder_award_id":"2023M731913","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G7819720820","display_name":null,"funder_award_id":"62106027,52202512","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1988251166","https://openalex.org/W1994444307","https://openalex.org/W2471390590","https://openalex.org/W2508228381","https://openalex.org/W2780412706","https://openalex.org/W2889107720","https://openalex.org/W2991534427","https://openalex.org/W3015087125","https://openalex.org/W3016158569","https://openalex.org/W3035525587","https://openalex.org/W3048066643","https://openalex.org/W3064917064","https://openalex.org/W3152926585","https://openalex.org/W3200237136","https://openalex.org/W4212864265","https://openalex.org/W4236883088","https://openalex.org/W4312595088"],"related_works":["https://openalex.org/W2153719181","https://openalex.org/W1971748923","https://openalex.org/W1566155057","https://openalex.org/W2060986072","https://openalex.org/W2052574922","https://openalex.org/W64588465","https://openalex.org/W3120641340","https://openalex.org/W2117825986","https://openalex.org/W3134067061","https://openalex.org/W2079855347"],"abstract_inverted_index":{"Wheeled":[0],"self-reconfigurable":[1],"robots":[2],"(WSRRs),":[3],"a":[4,59,134],"new":[5],"type":[6],"of":[7,42],"multi-robot":[8],"system":[9],"with":[10,44],"flexible":[11],"configurations":[12],"and":[13,33,40,89,111,121,148],"task":[14],"adaptability,":[15],"have":[16],"an":[17,78,95],"extensive":[18],"application":[19],"prospects":[20],"in":[21],"unstructured":[22],"mission":[23],"environments.":[24],"In":[25],"this":[26],"paper,":[27],"based":[28,54,64],"on":[29,55,65],"the":[30,36,51,56,66,75,105,122,142],"nonholonomic":[31,57],"constraints":[32],"Lagrange":[34],"method,":[35],"combinatorial":[37],"modal":[38],"kinematics":[39],"dynamics":[41],"WSRRs":[43,136],"arbitrary":[45],"reconfiguration":[46],"scale":[47],"are":[48],"established.":[49],"At":[50,74],"kinematic":[52],"level,":[53,77],"constraints,":[58],"smooth":[60],"obstacle":[61],"avoidance":[62],"strategy":[63],"safety":[67,149],"geofences":[68],"is":[69,82,101,131,138],"designed":[70],"to":[71,84,140],"ensure":[72,85],"safety.":[73],"dynamic":[76],"adaptive":[79],"fault-tolerant":[80],"mechanism":[81],"introduced":[83],"reasonable":[86],"torque":[87],"distribution":[88],"avoid":[90],"tracking":[91,125],"performance":[92],"degradation.":[93],"Meanwhile,":[94],"improved":[96],"extended":[97],"state":[98],"observer":[99,116],"(IESO)":[100],"elaborated,":[102],"through":[103],"which":[104],"high-frequency":[106],"ocsillation":[107],"from":[108,114],"measurement":[109],"noises":[110],"peaking":[112],"phenomenon":[113],"initial":[115],"errors":[117],"can":[118],"be":[119],"suppressed,":[120],"robust":[123],"velocity":[124],"control":[126],"under":[127],"unknown":[128],"lumped":[129],"disturbances":[130],"realized.":[132],"Finally,":[133],"real-world":[135],"experiment":[137],"constructed":[139],"verify":[141],"proposed":[143],"method's":[144],"fault":[145],"tolerance,":[146],"robustness,":[147],"comparatively.":[150]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}