{"id":"https://openalex.org/W2137112937","doi":"https://doi.org/10.1109/iros.2009.5354033","title":"Execution of dynamic maneuvers for unmanned ground vehicles using variable internal inertial properties","display_name":"Execution of dynamic maneuvers for unmanned ground vehicles using variable internal inertial properties","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2137112937","doi":"https://doi.org/10.1109/iros.2009.5354033","mag":"2137112937"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354033","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":"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/A5011734613","display_name":"Chenghui Nie","orcid":null},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chenghui Nie","raw_affiliation_strings":["Mechanical Materials and AeroSpace Engineering Department, Illinois Institute of Technology, USA","Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Materials and AeroSpace Engineering Department, Illinois Institute of Technology, USA","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047371930","display_name":"Sim\u00f3 Cus\u00ed Van Dooren","orcid":null},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Simo Cusi Van Dooren","raw_affiliation_strings":["Illinois Institute of Technology, USA","Illinois Institute of Technology,USA"],"affiliations":[{"raw_affiliation_string":"Illinois Institute of Technology, USA","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Illinois Institute of Technology,USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000233888","display_name":"Jainam Shah","orcid":null},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jainam Shah","raw_affiliation_strings":["Mechanical, Materials, and AeroSpace Engineering Department, Illinois Institute of Technology, USA","Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical, Materials, and AeroSpace Engineering Department, Illinois Institute of Technology, USA","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077307223","display_name":"Matthew Spenko","orcid":"https://orcid.org/0000-0001-6483-5339"},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Spenko","raw_affiliation_strings":["Faculty of the Mechanical, Materials, and AeroSpace Engineering Department, Illinois Institute of Technology, Chicago, IL, USA","Faculty of the Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology, Chicago, 60616, USA"],"affiliations":[{"raw_affiliation_string":"Faculty of the Mechanical, Materials, and AeroSpace Engineering Department, Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Faculty of the Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology, Chicago, 60616, USA","institution_ids":["https://openalex.org/I180949307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5011734613"],"corresponding_institution_ids":["https://openalex.org/I180949307"],"apc_list":null,"apc_paid":null,"fwci":0.4447,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.68529445,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"3208","issue":null,"first_page":"4226","last_page":"4231"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9922000169754028,"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/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.7977916598320007},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6382689476013184},{"id":"https://openalex.org/keywords/traction","display_name":"Traction (geology)","score":0.5725605487823486},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.565802276134491},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5190178155899048},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5002744197845459},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.45869559049606323},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42363056540489197},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4176706373691559},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38325801491737366},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28383275866508484},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17889747023582458},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1582234799861908},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14326095581054688},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10857799649238586}],"concepts":[{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.7977916598320007},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6382689476013184},{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.5725605487823486},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.565802276134491},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5190178155899048},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5002744197845459},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.45869559049606323},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42363056540489197},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4176706373691559},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38325801491737366},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28383275866508484},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17889747023582458},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1582234799861908},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14326095581054688},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10857799649238586},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354033","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W56971384","https://openalex.org/W1495343868","https://openalex.org/W1544016679","https://openalex.org/W1991239400","https://openalex.org/W2010080682","https://openalex.org/W2100361537","https://openalex.org/W2116472130","https://openalex.org/W2129287493","https://openalex.org/W2149841830","https://openalex.org/W3217070125","https://openalex.org/W3217549584","https://openalex.org/W4285719527","https://openalex.org/W4299825255","https://openalex.org/W4300995080","https://openalex.org/W6602288811","https://openalex.org/W6675129890"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W4287122200","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W2040913503","https://openalex.org/W3166845860","https://openalex.org/W2742744817","https://openalex.org/W2382856674","https://openalex.org/W1986454063"],"abstract_inverted_index":{"An":[0],"unmanned":[1],"ground":[2],"vehicle":[3,33],"(UGV)":[4],"capable":[5],"of":[6,64,89,93],"executing":[7,67,96],"controlled":[8],"sliding":[9],"and":[10,49,61,76],"sharp":[11],"turns":[12],"without":[13],"a":[14,28,32,65,97],"significant":[15],"decrease":[16],"in":[17,23,40,53,109],"velocity":[18],"would":[19,34],"have":[20],"superior":[21],"utility":[22],"field":[24],"operations":[25],"compared":[26],"to":[27,38],"standard":[29],"UGV.":[30],"Such":[31],"be":[35],"better":[36],"able":[37],"maneuver":[39],"tight":[41],"corridors,":[42],"avoid":[43],"obstacles":[44],"detected":[45],"at":[46],"short":[47],"range,":[48],"minimize":[50],"its":[51,73],"time":[52],"dangerous":[54],"situations.":[55],"This":[56,99],"paper":[57],"presents":[58],"theoretical":[59],"analysis":[60],"experimental":[62],"results":[63],"UGV":[66],"extreme":[68],"dynamic":[69],"maneuvers":[70],"by":[71,85],"altering":[72],"internal":[74],"mass":[75,94],"inertial":[77],"properties":[78],"during":[79],"locomotion.":[80],"The":[81],"behaviors":[82],"are":[83],"accomplished":[84],"shifting":[86],"the":[87,90,101,106],"location":[88],"UGV's":[91],"center":[92],"while":[95],"turn.":[98],"modifies":[100,111],"normal":[102],"force":[103],"acting":[104],"on":[105],"wheels,":[107],"which":[108],"turn":[110],"their":[112],"maximum":[113],"lateral":[114],"traction":[115],"forces.":[116]},"counts_by_year":[{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
