{"id":"https://openalex.org/W1977012917","doi":"https://doi.org/10.1109/iecon.2012.6389144","title":"Multilayer scheme for the adaptive cooperative coordinated control of mobile manipulators","display_name":"Multilayer scheme for the adaptive cooperative coordinated control of mobile manipulators","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W1977012917","doi":"https://doi.org/10.1109/iecon.2012.6389144","mag":"1977012917"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2012.6389144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2012.6389144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society","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/A5060180789","display_name":"V\u00edctor H. Andaluz","orcid":"https://orcid.org/0000-0002-8127-1595"},"institutions":[{"id":"https://openalex.org/I4210137344","display_name":"Escuela Superior Polit\u00e9cnica del Chimborazo","ror":"https://ror.org/02zyw2q61","country_code":"EC","type":"education","lineage":["https://openalex.org/I4210137344"]}],"countries":["EC"],"is_corresponding":true,"raw_author_name":"Victor H. Andaluz","raw_affiliation_strings":["Facultad de Inform\u00e1tica y Electr\u00f3nica, Escuela Polit\u00e9cnica de Chimborazo, Ecuador","Escuela Superior Polit\u00e9cnica de Chimborazo, Facultad de Inform\u00e1tica y Electr\u00f3nica, Ecuador"],"affiliations":[{"raw_affiliation_string":"Facultad de Inform\u00e1tica y Electr\u00f3nica, Escuela Polit\u00e9cnica de Chimborazo, Ecuador","institution_ids":["https://openalex.org/I4210137344"]},{"raw_affiliation_string":"Escuela Superior Polit\u00e9cnica de Chimborazo, Facultad de Inform\u00e1tica y Electr\u00f3nica, Ecuador","institution_ids":["https://openalex.org/I4210137344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064998969","display_name":"Pa\u00fal Canseco","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Paul A. Canseco","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102730122","display_name":"Andr\u00e9s Rosales","orcid":"https://orcid.org/0000-0003-0710-928X"},"institutions":[{"id":"https://openalex.org/I70764802","display_name":"National Polytechnic School","ror":"https://ror.org/01gb99w41","country_code":"EC","type":"education","lineage":["https://openalex.org/I70764802"]}],"countries":["EC"],"is_corresponding":false,"raw_author_name":"Andres Rosales","raw_affiliation_strings":["Facultad de Ingenier\u00eda El\u00e9ctrica y Electr\u00f3nica, Escuela Polit\u00e9cnica Nacional, Quito, Ecuador","Escuela Polit\u00e9cnica Nacional, Facultad de Ingenier\u00eda El\u00e9ctrica y Electr\u00f3nica, Quito-Ecuador, Ecuador"],"affiliations":[{"raw_affiliation_string":"Facultad de Ingenier\u00eda El\u00e9ctrica y Electr\u00f3nica, Escuela Polit\u00e9cnica Nacional, Quito, Ecuador","institution_ids":["https://openalex.org/I70764802"]},{"raw_affiliation_string":"Escuela Polit\u00e9cnica Nacional, Facultad de Ingenier\u00eda El\u00e9ctrica y Electr\u00f3nica, Quito-Ecuador, Ecuador","institution_ids":["https://openalex.org/I70764802"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002030815","display_name":"Flavio Robert\u00ed","orcid":"https://orcid.org/0000-0002-5047-0217"},"institutions":[{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Flavio Roberti","raw_affiliation_strings":["Lnstituto de Autom\u00e1tica, Universidad Nacional de San Juan, Argentina","[Instituto de Autom\u00e1tica, Universidad Nacional de San Juan, Argentina]"],"affiliations":[{"raw_affiliation_string":"Lnstituto de Autom\u00e1tica, Universidad Nacional de San Juan, Argentina","institution_ids":["https://openalex.org/I39553462"]},{"raw_affiliation_string":"[Instituto de Autom\u00e1tica, Universidad Nacional de San Juan, Argentina]","institution_ids":["https://openalex.org/I39553462"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000849024","display_name":"Ricardo Carelli","orcid":"https://orcid.org/0000-0003-0688-7020"},"institutions":[{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Ricardo Carelli","raw_affiliation_strings":["Lnstituto de Autom\u00e1tica, Universidad Nacional de San Juan, Argentina","[Instituto de Autom\u00e1tica, Universidad Nacional de San Juan, Argentina]"],"affiliations":[{"raw_affiliation_string":"Lnstituto de Autom\u00e1tica, Universidad Nacional de San Juan, Argentina","institution_ids":["https://openalex.org/I39553462"]},{"raw_affiliation_string":"[Instituto de Autom\u00e1tica, Universidad Nacional de San Juan, Argentina]","institution_ids":["https://openalex.org/I39553462"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5060180789"],"corresponding_institution_ids":["https://openalex.org/I4210137344"],"apc_list":null,"apc_paid":null,"fwci":0.3546,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.59774689,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"39","issue":null,"first_page":"2737","last_page":"2743"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9998999834060669,"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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.694809079170227},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.6643908023834229},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6329451203346252},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6181334257125854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6131542325019836},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.61168372631073},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5573745369911194},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5541646480560303},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.476111501455307},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4748304784297943},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.45186617970466614},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4509042799472809},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43264150619506836},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42111772298812866},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23808661103248596},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23036658763885498},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1474616527557373},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14444264769554138}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.694809079170227},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.6643908023834229},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6329451203346252},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6181334257125854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6131542325019836},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.61168372631073},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5573745369911194},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5541646480560303},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.476111501455307},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4748304784297943},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.45186617970466614},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4509042799472809},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43264150619506836},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42111772298812866},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23808661103248596},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23036658763885498},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1474616527557373},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14444264769554138},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2012.6389144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2012.6389144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1864838508","https://openalex.org/W2014774895","https://openalex.org/W2050673413","https://openalex.org/W2065930430","https://openalex.org/W2084764340","https://openalex.org/W2097447571","https://openalex.org/W2098437643","https://openalex.org/W2098720860","https://openalex.org/W2114397713","https://openalex.org/W2115621646","https://openalex.org/W2119955255","https://openalex.org/W2120251180","https://openalex.org/W2136509658","https://openalex.org/W2155201064","https://openalex.org/W2157900428","https://openalex.org/W2161369740","https://openalex.org/W2164538850","https://openalex.org/W2165750802","https://openalex.org/W2169240708","https://openalex.org/W2169377118","https://openalex.org/W2936405433","https://openalex.org/W4250348130","https://openalex.org/W6674760439"],"related_works":["https://openalex.org/W2372856383","https://openalex.org/W1934622834","https://openalex.org/W2015036175","https://openalex.org/W2005085248","https://openalex.org/W2534107666","https://openalex.org/W2117933783","https://openalex.org/W2103496243","https://openalex.org/W2560479139","https://openalex.org/W2043000245","https://openalex.org/W2110713095"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,25,121],"multi-layer":[4,127],"scheme":[5,128],"for":[6,55,78],"the":[7,29,41,52,70,73,79,84,90,100,105,125,132],"adaptive":[8,44],"cooperative":[9],"coordinated":[10],"control":[11],"of":[12,28,31,50,65,72,81,124],"mobile":[13,67,74,85],"manipulator":[14],"robots.":[15],"Each":[16],"layer":[17,47],"works":[18],"as":[19,129],"an":[20],"independent":[21],"module,":[22],"dealing":[23],"with":[24],"specific":[26],"part":[27],"problem":[30],"cooperation,":[32],"coordination":[33],"and":[34,93,99,110],"adaptation,":[35],"thus":[36],"giving":[37],"more":[38],"flexibility":[39],"to":[40,62],"scheme.":[42],"The":[43],"dynamic":[45],"compensation":[46],"is":[48,76],"capable":[49],"updating":[51],"estimated":[53],"parameters":[54,64],"all":[56],"robots,":[57],"which":[58],"are":[59,112],"directly":[60],"related":[61],"physical":[63],"each":[66],"manipulator.":[68],"Also,":[69],"redundancy":[71],"manipulators":[75],"used":[77],"avoidance":[80],"obstacles":[82],"by":[83,114,131],"platforms":[86],"-":[87,98],"without":[88],"deforming":[89],"virtual":[91],"structure":[92],"maintaining":[94],"its":[95],"desired":[96],"trajectory":[97],"singular":[101],"configuration":[102],"prevention":[103],"through":[104],"system's":[106],"manipulability":[107],"control.":[108],"Stability":[109],"robustness":[111],"proved":[113,130],"using":[115],"Lyapunov's":[116],"method.":[117],"Simulation":[118],"results":[119],"show":[120],"good":[122],"performance":[123],"proposed":[126],"theoretical":[133],"design.":[134]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}