{"id":"https://openalex.org/W2101460624","doi":"https://doi.org/10.1109/iros.2009.5354073","title":"Coordinated path following control of multiple wheeled mobile robots through decentralized speed adaptation","display_name":"Coordinated path following control of multiple wheeled mobile robots through decentralized speed adaptation","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2101460624","doi":"https://doi.org/10.1109/iros.2009.5354073","mag":"2101460624"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354073","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":true,"oa_status":"green","oa_url":"https://hal.science/hal-00733800","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049316498","display_name":"Xianbo Xiang","orcid":"https://orcid.org/0000-0002-6215-9864"},"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/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Xianbo Xiang","raw_affiliation_strings":["Department of Robotics, CNRS UM2 LIRMM, Montpellier, France","Robotique mobile pour l'exploration de l'environnement"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, CNRS UM2 LIRMM, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Robotique mobile pour l'exploration de l'environnement","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035775898","display_name":"L. Lapierre","orcid":"https://orcid.org/0000-0002-4320-2118"},"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/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Lionel Lapierre","raw_affiliation_strings":["Department of Robotics, CNRS UM2 LIRMM, Montpellier, France","Robotique mobile pour l'exploration de l'environnement"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, CNRS UM2 LIRMM, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Robotique mobile pour l'exploration de l'environnement","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024739736","display_name":"Bruno Jouvencel","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/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Bruno Jouvencel","raw_affiliation_strings":["Department of Robotics, CNRS UM2 LIRMM, Montpellier, France","Robotique mobile pour l'exploration de l'environnement"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, CNRS UM2 LIRMM, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Robotique mobile pour l'exploration de l'environnement","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063162122","display_name":"Oliver Parodi","orcid":"https://orcid.org/0000-0002-8702-0690"},"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/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Olivier Parodi","raw_affiliation_strings":["Department of Robotics, CNRS UM2 LIRMM, Montpellier, France","Robotique mobile pour l'exploration de l'environnement"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, CNRS UM2 LIRMM, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Robotique mobile pour l'exploration de l'environnement","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3629,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.6489179,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"13","issue":null,"first_page":"4547","last_page":"4552"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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":0.9991999864578247,"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":0.9936000108718872,"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/mobile-robot","display_name":"Mobile robot","score":0.7883272171020508},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.7627474665641785},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6731919050216675},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6650017499923706},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6362769603729248},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4798511862754822},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45601773262023926},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3495897650718689},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2145097851753235},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.18305349349975586},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.05305224657058716}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7883272171020508},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.7627474665641785},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6731919050216675},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6650017499923706},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6362769603729248},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4798511862754822},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45601773262023926},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3495897650718689},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2145097851753235},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.18305349349975586},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.05305224657058716},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2009.5354073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354073","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:HAL:hal-00733800v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00733800","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IROS: Intelligent Robots and Systems, Oct 2009, St Louis, MO, United States. pp.4547-4552","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-00733800v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00733800","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IROS: Intelligent Robots and Systems, Oct 2009, St Louis, MO, United States. pp.4547-4552","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W130364663","https://openalex.org/W1484721599","https://openalex.org/W1524252729","https://openalex.org/W1590684588","https://openalex.org/W1778911478","https://openalex.org/W2090167557","https://openalex.org/W2097346851","https://openalex.org/W2098194630","https://openalex.org/W2107396783","https://openalex.org/W2115775310","https://openalex.org/W2119960359","https://openalex.org/W2125800763","https://openalex.org/W2129870396","https://openalex.org/W2146180594","https://openalex.org/W2146890818","https://openalex.org/W2614210171","https://openalex.org/W4238591275","https://openalex.org/W6605266510","https://openalex.org/W6737565149"],"related_works":["https://openalex.org/W260566294","https://openalex.org/W2033137063","https://openalex.org/W2124899340","https://openalex.org/W2799139340","https://openalex.org/W1929262409","https://openalex.org/W2000120653","https://openalex.org/W2176548496","https://openalex.org/W2662536592","https://openalex.org/W2390904576","https://openalex.org/W1539483014"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,39,50,88,134,137],"problem":[4],"of":[5,9,54,90,136],"coordinated":[6,115],"path":[7,78],"following":[8,62,79],"multiple":[10],"wheeled":[11],"mobile":[12],"robots":[13,32,102],"while":[14,71],"keeping":[15],"a":[16],"desired":[17,127],"formation.":[18],"The":[19,104],"control":[20],"laws":[21],"proposed":[22],"are":[23,63],"categorized":[24],"into":[25,76,118],"two":[26],"envelopes,":[27],"one":[28],"is":[29,41,94],"steering":[30],"individual":[31,77],"to":[33,45,113,126],"trace":[34],"along":[35],"predefined":[36],"paths,":[37],"and":[38,68,116,122],"other":[40],"ensuring":[42],"tracked":[43],"paths":[44,61],"be":[46,114],"well":[47],"defined":[48],"in":[49,129],"formation,":[51],"by":[52],"means":[53],"decentralized":[55],"speed":[56],"adaption.Within":[57],"this":[58],"framework,":[59],"geometric":[60],"built":[64],"on":[65],"Lyapunov":[66],"theory":[67],"backstepping":[69],"techniques,":[70],"injecting":[72],"helmsman":[73],"like":[74],"behavior":[75],"control.":[80],"Speed":[81],"adaption":[82],"with":[83],"minimum":[84],"communication":[85,92],"variable":[86],"under":[87],"constraints":[89],"multi-robot":[91,111],"topology,":[93],"elaborately":[95],"designed":[96],"without":[97],"relative":[98],"speeds":[99,124],"between":[100],"neighboring":[101],"requested.":[103],"simple":[105],"but":[106],"effective":[107],"controller":[108],"design,":[109],"enables":[110],"system":[112],"stabilized":[117],"an":[119],"invariant":[120],"manifold,":[121],"all":[123],"converge":[125],"profiles":[128],"addition.":[130],"Simulation":[131],"results":[132],"illustrate":[133],"efficacy":[135],"solution":[138],"proposed.":[139]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}