{"id":"https://openalex.org/W4401415090","doi":"https://doi.org/10.1109/icra57147.2024.10611690","title":"Trajectory-prediction-based Dynamic Tracking of a UGV to a Moving Target under Multi-disturbed Conditions","display_name":"Trajectory-prediction-based Dynamic Tracking of a UGV to a Moving Target under Multi-disturbed Conditions","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415090","doi":"https://doi.org/10.1109/icra57147.2024.10611690"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611690","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611690","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/A5067395966","display_name":"Jinge Si","orcid":"https://orcid.org/0000-0002-6636-0899"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jinge Si","raw_affiliation_strings":["Beijing Institute of Technology, School of Automation,State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, School of Automation,State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365180","display_name":"Bin Li","orcid":"https://orcid.org/0000-0002-4080-3268"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Li","raw_affiliation_strings":["Beijing Institute of Technology, School of Automation,State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, School of Automation,State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033771557","display_name":"Yongkang Xu","orcid":"https://orcid.org/0000-0003-0217-9035"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongkang Xu","raw_affiliation_strings":["Beijing Institute of Technology, School of Automation,State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, School of Automation,State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115602506","display_name":"Liang Wang","orcid":"https://orcid.org/0000-0001-5224-8647"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Wang","raw_affiliation_strings":["Beijing Institute of Technology, School of Automation,State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, School of Automation,State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010312813","display_name":"Chencheng Deng","orcid":"https://orcid.org/0000-0003-1092-1236"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chencheng Deng","raw_affiliation_strings":["Beijing Institute of Technology, School of Automation,State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, School of Automation,State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023408487","display_name":"Shoukun Wang","orcid":"https://orcid.org/0000-0002-2433-6655"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shoukun Wang","raw_affiliation_strings":["Beijing Institute of Technology, School of Automation,State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, School of Automation,State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100697060","display_name":"Junzheng Wang","orcid":"https://orcid.org/0000-0002-8808-7889"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzheng Wang","raw_affiliation_strings":["Beijing Institute of Technology, School of Automation,State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology, School of Automation,State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5067395966"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13093912,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"18265","last_page":"18271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9976000189781189,"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":0.9976000189781189,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9973000288009644,"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/T10524","display_name":"Traffic control and management","score":0.9914000034332275,"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/trajectory","display_name":"Trajectory","score":0.8150337934494019},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6883125305175781},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6766065359115601},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5938673615455627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5647634267807007},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06136330962181091}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8150337934494019},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6883125305175781},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6766065359115601},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5938673615455627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5647634267807007},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06136330962181091},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611690","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611690","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":[{"score":0.7599999904632568,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1970411044","https://openalex.org/W2113223387","https://openalex.org/W2561952445","https://openalex.org/W2790030879","https://openalex.org/W2795166961","https://openalex.org/W2889829150","https://openalex.org/W2964789461","https://openalex.org/W3126763268","https://openalex.org/W3134969093","https://openalex.org/W3165514257","https://openalex.org/W3169164188","https://openalex.org/W3173201989","https://openalex.org/W3205220835","https://openalex.org/W3205823488","https://openalex.org/W3206626796","https://openalex.org/W3207058687","https://openalex.org/W4200224834","https://openalex.org/W4200245970","https://openalex.org/W4200560438","https://openalex.org/W4205401389","https://openalex.org/W4210520685","https://openalex.org/W4287887103","https://openalex.org/W4289639903","https://openalex.org/W4312339440","https://openalex.org/W4312965377","https://openalex.org/W4313134666","https://openalex.org/W4315606122","https://openalex.org/W4317038472","https://openalex.org/W4319866191","https://openalex.org/W4319992748"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Tracking":[0],"dynamic":[1,28,134,163],"targets":[2],"poses":[3],"a":[4,26,83,183,192],"significant":[5],"challenge":[6],"for":[7,86,91,133],"Unmanned":[8,167],"Ground":[9],"Vehicles":[10],"(UGVs).":[11],"Existing":[12],"methods":[13],"often":[14],"lack":[15],"research":[16],"on":[17,45,77,102],"multi-disturbed":[18,175],"conditions.":[19,176],"To":[20,65],"address":[21],"this":[22,81],"issue,":[23],"we":[24,68,95],"propose":[25],"trajectory-prediction-based":[27],"tracking":[29,164,193],"scheme,":[30],"which":[31],"includes":[32],"target":[33,63,110,180],"localization,":[34],"trajectory":[35,87,111],"prediction,":[36],"and":[37,56,146],"UGV":[38,131,173,189],"control.":[39,93],"Firstly,":[40],"an":[41,70],"estimation":[42],"algorithm":[43,75],"based":[44,76,101],"the":[46,58,62,109,114,120,130,140,158,166,172,179,188],"Extended":[47],"Kalman":[48],"Filter":[49],"(EKF)":[50],"is":[51,89,127],"employed":[52],"to":[53,106,152],"mitigate":[54],"noise":[55],"estimate":[57],"absolute":[59],"states":[60],"of":[61,116,165,185],"accurately.":[64],"enhance":[66],"robustness,":[67],"present":[69],"Adaptive":[71],"Trajectory":[72],"Prediction":[73],"(ATP)":[74],"prediction":[78,98,144,154],"anchors.":[79],"In":[80,156],"method,":[82],"quantization":[84],"standard":[85],"disturbance":[88],"designed":[90],"adaptive":[92],"Subsequently,":[94],"iteratively":[96],"solve":[97],"anchor":[99],"points":[100],"two":[103],"motion":[104],"models":[105],"robustly":[107],"predict":[108],"even":[112],"in":[113,129,148],"presence":[115],"unknown":[117],"disturbances.":[118],"Finally,":[119],"Linear":[121],"Time-Varying":[122],"Model":[123],"Predictive":[124],"Control":[125],"(LTV-MPC)":[126],"utilized":[128],"controller":[132],"tracking.":[135],"Experimental":[136],"results":[137],"demonstrate":[138],"that":[139],"ATP":[141],"exhibits":[142],"superior":[143],"robustness":[145],"accuracy":[147],"perturbed":[149],"environments":[150],"compared":[151],"other":[153],"algorithms.":[155],"addition,":[157],"proposed":[159],"scheme":[160],"effectively":[161],"achieves":[162],"Aerial":[168],"Vehicle":[169],"(UAV)":[170],"by":[171],"under":[174],"Specifically,":[177],"when":[178],"moves":[181],"at":[182],"speed":[184],"1.0":[186],"m/s,":[187],"can":[190],"maintain":[191],"error":[194],"within":[195],"0.346":[196],"m.":[197]},"counts_by_year":[],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
