{"id":"https://openalex.org/W2160503854","doi":"https://doi.org/10.1109/iros.2009.5353886","title":"Modeling and path-following for a snake robot with active wheels","display_name":"Modeling and path-following for a snake robot with active wheels","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2160503854","doi":"https://doi.org/10.1109/iros.2009.5353886","mag":"2160503854"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5353886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5353886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5098069415","display_name":"Boat Murugendran","orcid":null},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]},{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Boat Murugendran","raw_affiliation_strings":["Department of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]},{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073872424","display_name":"Aksel A. Transeth","orcid":"https://orcid.org/0009-0007-9440-8515"},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Aksel Andreas Transeth","raw_affiliation_strings":["Department of Applied Cybernetics, SINTEF ICT, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017282255","display_name":"Sigurd Aksnes Fjerdingen","orcid":null},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Sigurd Aksnes Fjerdingen","raw_affiliation_strings":["Department of Applied Cybernetics, SINTEF ICT, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9498,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.93620816,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3643","last_page":"3650"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"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":0.9966999888420105,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9959999918937683,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/robot","display_name":"Robot","score":0.5964696407318115},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5763403177261353},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5038804411888123},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4287763833999634},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3288964629173279}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5964696407318115},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5763403177261353},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5038804411888123},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4287763833999634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3288964629173279},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2009.5353886","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5353886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:brage.bibsys.no:11250/2430497","is_oa":false,"landing_page_url":"http://hdl.handle.net/11250/2430497","pdf_url":null,"source":{"id":"https://openalex.org/S4306400255","display_name":"BIBSYS Brage (BIBSYS (Norway))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I173212132","host_organization_name":"Vilnius University","host_organization_lineage":["https://openalex.org/I173212132"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"3643-3650","raw_type":"Chapter"},{"id":"pmh:oai:brage.bibsys.no:11250/2453115","is_oa":false,"landing_page_url":"http://hdl.handle.net/11250/2453115","pdf_url":null,"source":{"id":"https://openalex.org/S4306400255","display_name":"BIBSYS Brage (BIBSYS (Norway))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I173212132","host_organization_name":"Vilnius University","host_organization_lineage":["https://openalex.org/I173212132"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"3643-3650","raw_type":"Chapter"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W596080164","https://openalex.org/W1493441771","https://openalex.org/W1558079603","https://openalex.org/W1589352600","https://openalex.org/W1595470521","https://openalex.org/W1651925131","https://openalex.org/W2078528205","https://openalex.org/W2099428832","https://openalex.org/W2102252220","https://openalex.org/W2120606903","https://openalex.org/W2144615120","https://openalex.org/W2165951625","https://openalex.org/W2277730489","https://openalex.org/W4233713099","https://openalex.org/W4238307931","https://openalex.org/W4251001507","https://openalex.org/W6617988201","https://openalex.org/W6635611660","https://openalex.org/W6694892147"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Snake":[0],"robots":[1],"with":[2,29,65,69,99,119],"active":[3,66],"wheels":[4,67,137],"provide":[5],"interesting":[6],"opportunities":[7],"within":[8],"many":[9],"areas":[10],"such":[11,75],"as":[12],"inspection":[13],"and":[14,16,18,44,115,136],"maintenance":[15],"search":[17],"rescue":[19],"operations.":[20],"The":[21,77,110],"highly-articulated":[22],"body":[23],"of":[24,32,58,61,152],"a":[25,55,62,70,85,95,100,106,144,153],"snake":[26,63,91],"robot":[27,64,92],"combined":[28],"the":[30,59,90,120,128],"advantages":[31],"wheeled":[33],"locomotion":[34,39],"makes":[35],"it":[36],"ideal":[37],"for":[38,41,74,89],"in,":[40],"example,":[42],"pipes":[43],"other":[45],"narrow":[46],"or":[47],"constricted":[48],"structures.":[49],"In":[50,123],"this":[51],"paper":[52],"we":[53],"present":[54],"mathematical":[56],"model":[57],"dynamics":[60],"together":[68,98],"novel":[71],"path-following":[72,78,111,146],"approach":[73,79,112,130],"robots.":[76],"includes":[80],"both":[81],"how":[82],"to":[83,149],"find":[84],"desired":[86],"turning":[87],"angle":[88],"head":[93],"given":[94],"reference":[96],"path,":[97],"module":[101],"coordination":[102],"strategy":[103],"based":[104],"on":[105],"n-trailer":[107],"kinematic":[108],"model.":[109,122],"is":[113],"tested":[114],"verified":[116],"by":[117],"simulations":[118,125],"dynamic":[121],"addition,":[124],"suggest":[126],"that":[127],"proposed":[129],"results":[131],"in":[132,141],"reduced":[133,145],"commanded":[134],"joint":[135],"shaft":[138],"torques":[139],"and,":[140],"most":[142],"cases,":[143],"error":[147],"compared":[148],"an":[150],"implementation":[151],"follow-the-leader":[154],"algorithm.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}