{"id":"https://openalex.org/W1515841242","doi":"https://doi.org/10.1109/iros.2003.1250742","title":"Sensor based trajectory following for nonholonomic systems in highly cluttered environment","display_name":"Sensor based trajectory following for nonholonomic systems in highly cluttered environment","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W1515841242","doi":"https://doi.org/10.1109/iros.2003.1250742","mag":"1515841242"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1250742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250742","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5079669017","display_name":"David Bonnafous","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"D. Bonnafous","raw_affiliation_strings":["LAAS, CNRS, Toulouse, France","LAAS; CNRS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS; CNRS, Toulouse, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091327522","display_name":"Florent Lamiraux","orcid":"https://orcid.org/0000-0002-8757-567X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"F. Lamiraux","raw_affiliation_strings":["LAAS, CNRS, Toulouse, France","LAAS; CNRS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS; CNRS, Toulouse, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1891,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.75169882,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"892","last_page":"897"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.9352942705154419},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.7579970359802246},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6333925724029541},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.611322820186615},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.512171745300293},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43705326318740845},{"id":"https://openalex.org/keywords/interval","display_name":"Interval (graph theory)","score":0.4348922669887543},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.416535884141922},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38644909858703613},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3530856966972351},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1555650234222412},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1237521767616272},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10325783491134644}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.9352942705154419},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7579970359802246},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6333925724029541},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.611322820186615},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.512171745300293},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43705326318740845},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.4348922669887543},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.416535884141922},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38644909858703613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3530856966972351},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1555650234222412},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1237521767616272},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10325783491134644},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2003.1250742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250742","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2057694648","https://openalex.org/W2100471985","https://openalex.org/W2103332960","https://openalex.org/W2110397964","https://openalex.org/W2115091574","https://openalex.org/W2126438950","https://openalex.org/W2129969688","https://openalex.org/W2145089737","https://openalex.org/W2171331791","https://openalex.org/W6681425221"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2293606346","https://openalex.org/W1563391512","https://openalex.org/W2020829486","https://openalex.org/W2016451691"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,40,51],"present":[4],"a":[5,9,13,33,42,57],"method":[6,22],"to":[7,45],"follow":[8],"planned":[10],"trajectory":[11,54,61],"in":[12,55],"highly":[14],"cluttered":[15],"environment":[16],"for":[17],"complex":[18],"nonholonomic":[19],"systems.":[20],"This":[21],"ensures,":[23],"under":[24],"some":[25],"hypotheses,":[26],"that":[27,59],"the":[28,38,47,53,60],"robot":[29,48],"never":[30],"collides.":[31],"When":[32],"collision":[34],"is":[35,62],"detected":[36],"on":[37],"trajectory,":[39],"compute":[41],"deceleration":[43],"interval":[44],"stop":[46],"while":[49],"decelerating,":[50],"deform":[52],"such":[56],"way":[58],"always":[63],"feasible.":[64]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}