{"id":"https://openalex.org/W4401416206","doi":"https://doi.org/10.1109/icra57147.2024.10611662","title":"Teach and Repeat Navigation: A Robust Control Approach","display_name":"Teach and Repeat Navigation: A Robust Control Approach","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416206","doi":"https://doi.org/10.1109/icra57147.2024.10611662"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611662","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5050894654","display_name":"Payam Nourizadeh","orcid":"https://orcid.org/0000-0001-8199-2571"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Payam Nourizadeh","raw_affiliation_strings":["Queensland University of Technology,QUT Centre for Robotics,Brisbane,Australia,QLD 4000"],"affiliations":[{"raw_affiliation_string":"Queensland University of Technology,QUT Centre for Robotics,Brisbane,Australia,QLD 4000","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078340555","display_name":"Michael Milford","orcid":"https://orcid.org/0000-0002-5162-1793"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael Milford","raw_affiliation_strings":["Queensland University of Technology,QUT Centre for Robotics,Brisbane,Australia,QLD 4000"],"affiliations":[{"raw_affiliation_string":"Queensland University of Technology,QUT Centre for Robotics,Brisbane,Australia,QLD 4000","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071424922","display_name":"Tobias Fischer","orcid":"https://orcid.org/0000-0003-2183-017X"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tobias Fischer","raw_affiliation_strings":["Queensland University of Technology,QUT Centre for Robotics,Brisbane,Australia,QLD 4000"],"affiliations":[{"raw_affiliation_string":"Queensland University of Technology,QUT Centre for Robotics,Brisbane,Australia,QLD 4000","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050894654"],"corresponding_institution_ids":["https://openalex.org/I160993911"],"apc_list":null,"apc_paid":null,"fwci":4.5288,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.93803131,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2909","last_page":"2916"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9944999814033508,"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/computer-science","display_name":"Computer science","score":0.6145435571670532},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48334118723869324},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27523568272590637}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6145435571670532},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48334118723869324},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27523568272590637}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611662","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/F4320315885","display_name":"Australian Government","ror":"https://ror.org/0314h5y94"},{"id":"https://openalex.org/F4320320983","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1484387568","https://openalex.org/W1506295672","https://openalex.org/W2081128945","https://openalex.org/W2107145440","https://openalex.org/W2110405746","https://openalex.org/W2114766649","https://openalex.org/W2142111022","https://openalex.org/W2151900353","https://openalex.org/W2163939038","https://openalex.org/W2168291804","https://openalex.org/W2420012326","https://openalex.org/W2461937780","https://openalex.org/W2471390590","https://openalex.org/W2524456220","https://openalex.org/W2530635458","https://openalex.org/W2585141692","https://openalex.org/W2742908441","https://openalex.org/W2765721192","https://openalex.org/W2766210453","https://openalex.org/W2778649024","https://openalex.org/W2863749457","https://openalex.org/W2940793188","https://openalex.org/W2963341249","https://openalex.org/W3020224186","https://openalex.org/W3047381334","https://openalex.org/W3124420883","https://openalex.org/W3132274946","https://openalex.org/W4200223748","https://openalex.org/W4205172893","https://openalex.org/W4223915524","https://openalex.org/W4224243467","https://openalex.org/W4226156282","https://openalex.org/W4230475428","https://openalex.org/W4310546438","https://openalex.org/W4313308319","https://openalex.org/W4316035641","https://openalex.org/W4321033237","https://openalex.org/W4366090739","https://openalex.org/W4383550642","https://openalex.org/W4387365288"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"Robot":[0],"navigation":[1,21,170],"requires":[2],"an":[3,163],"autonomy":[4],"pipeline":[5],"that":[6,72,76,99],"is":[7,104],"robust":[8,60,108],"to":[9,45],"environmental":[10],"changes":[11],"and":[12,18,89,107,137,154],"effective":[13],"in":[14,26,80,134,147,156],"varying":[15],"conditions.":[16],"Teach":[17],"Repeat":[19],"(T&R)":[20],"has":[22,37],"shown":[23],"high":[24],"performance":[25],"autonomous":[27,168],"repeated":[28],"tasks":[29],"under":[30],"challenging":[31,158],"circumstances,":[32],"but":[33],"research":[34],"within":[35],"T&R":[36,55,82,102,169],"predominantly":[38],"focused":[39],"on":[40,58,119],"motion":[41,46,61],"planning":[42],"as":[43],"opposed":[44],"control.":[47],"In":[48],"this":[49],"paper,":[50],"we":[51,124],"propose":[52],"a":[53,59,65,120],"novel":[54],"system":[56,103,133],"based":[57],"control":[62,71],"technique":[63],"for":[64],"skid-steering":[66],"mobile":[67],"robot":[68],"using":[69],"sliding-mode":[70],"effectively":[73],"handles":[74],"uncertainties":[75,112],"are":[77,92],"particularly":[78],"pronounced":[79],"the":[81,100,111,114,127,131],"task,":[83],"where":[84],"sensor":[85],"noises,":[86],"parametric":[87],"uncertainties,":[88],"wheel-terrain":[90],"interaction":[91],"common":[93],"challenges.":[94],"We":[95],"first":[96],"theoretically":[97],"demonstrate":[98],"proposed":[101,132],"globally":[105],"stable":[106],"while":[109],"considering":[110],"of":[113,130,149],"closed-loop":[115],"system.":[116],"When":[117],"deployed":[118],"Clearpath":[121],"Jackal":[122],"robot,":[123],"then":[125],"show":[126],"global":[128],"stability":[129,155],"both":[135],"indoor":[136],"outdoor":[138],"environments":[139],"covering":[140],"different":[141],"terrains,":[142],"outperforming":[143],"previous":[144],"state-of-the-art":[145],"methods":[146],"terms":[148],"mean":[150],"average":[151],"trajectory":[152],"error":[153],"these":[157],"environments.":[159],"This":[160],"paper":[161],"makes":[162],"important":[164],"step":[165],"towards":[166],"long-term":[167],"with":[171],"ensured":[172],"safety":[173],"guarantees.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
