{"id":"https://openalex.org/W1987489142","doi":"https://doi.org/10.1109/iros.2010.5650951","title":"Underactuated control for nonholonomic mobile robots by using double integrator model and invariant manifold theory","display_name":"Underactuated control for nonholonomic mobile robots by using double integrator model and invariant manifold theory","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W1987489142","doi":"https://doi.org/10.1109/iros.2010.5650951","mag":"1987489142"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5650951","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650951","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5111518950","display_name":"Keigo Watanabe","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K Watanabe","raw_affiliation_strings":["Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences Graduate School of Natural science and Technology, Okayama University, Okayama, Japan","Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences, Graduate School of Natural science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, 700-8530, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences Graduate School of Natural science and Technology, Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences, Graduate School of Natural science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, 700-8530, Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014144449","display_name":"Takahiro Yamamoto","orcid":"https://orcid.org/0000-0002-0808-4822"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T Yamamoto","raw_affiliation_strings":["Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences Graduate School of Natural science and Technology, Okayama University, Okayama, Japan","Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences, Graduate School of Natural science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, 700-8530, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences Graduate School of Natural science and Technology, Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences, Graduate School of Natural science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, 700-8530, Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064231939","display_name":"Kiyotaka Izumi","orcid":null},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K Izumi","raw_affiliation_strings":["Department of Mechanical Engineering, Graduate School of Science and Engineering, Saga University, Saga, Japan","Department of Mechanical Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, 840-8502, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Graduate School of Science and Engineering, Saga University, Saga, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, 840-8502, Japan","institution_ids":["https://openalex.org/I177136067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111457034","display_name":"Shoichi Maeyama","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S Maeyama","raw_affiliation_strings":["Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences Graduate School of Natural science and Technology, Okayama University, Okayama, Japan","Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences, Graduate School of Natural science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, 700-8530, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences Graduate School of Natural science and Technology, Okayama University, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences, Graduate School of Natural science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, 700-8530, Japan","institution_ids":["https://openalex.org/I163770644"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"35","issue":null,"first_page":"2862","last_page":"2867"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":1.0,"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":0.9911999702453613,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9811000227928162,"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/control-theory","display_name":"Control theory (sociology)","score":0.8003942966461182},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7807549238204956},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.7623323202133179},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6679500341415405},{"id":"https://openalex.org/keywords/double-integrator","display_name":"Double integrator","score":0.545214056968689},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.511232852935791},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48181405663490295},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44998854398727417},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44518300890922546},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3958227336406708},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3335757255554199},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3246597647666931},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20374682545661926},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18796461820602417},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1485108733177185},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13972687721252441},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10994863510131836}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8003942966461182},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7807549238204956},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7623323202133179},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6679500341415405},{"id":"https://openalex.org/C2779323837","wikidata":"https://www.wikidata.org/wiki/Q5300045","display_name":"Double integrator","level":3,"score":0.545214056968689},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.511232852935791},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48181405663490295},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44998854398727417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44518300890922546},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3958227336406708},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3335757255554199},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3246597647666931},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20374682545661926},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18796461820602417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1485108733177185},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13972687721252441},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10994863510131836},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2010.5650951","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650951","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":19,"referenced_works":["https://openalex.org/W3050259","https://openalex.org/W9639216","https://openalex.org/W137363783","https://openalex.org/W1990988364","https://openalex.org/W2023190198","https://openalex.org/W2033699235","https://openalex.org/W2069612046","https://openalex.org/W2082756801","https://openalex.org/W2088363200","https://openalex.org/W2089592749","https://openalex.org/W2100165947","https://openalex.org/W2102490802","https://openalex.org/W2142106021","https://openalex.org/W2150531296","https://openalex.org/W2328279179","https://openalex.org/W2727139235","https://openalex.org/W6600133170","https://openalex.org/W6600425503","https://openalex.org/W6740140004"],"related_works":["https://openalex.org/W2106586754","https://openalex.org/W2036009937","https://openalex.org/W2347322976","https://openalex.org/W2020829486","https://openalex.org/W2016451691","https://openalex.org/W1514080667","https://openalex.org/W2685497130","https://openalex.org/W2208125510","https://openalex.org/W2402852349","https://openalex.org/W2086511948"],"abstract_inverted_index":{"In":[0],"a":[1,13,25,30,57,66,84],"stabilizing":[2,33,91],"control":[3,34,42,55,64],"for":[4,96],"nonholonomic":[5,14,71],"mobile":[6],"robots":[7],"with":[8,121],"two":[9],"independent":[10],"driving":[11],"wheels,":[12],"double":[15,72],"integrator":[16,73],"in":[17,56,65,108],"the":[18,52,61,76,103,109,116],"kinematic":[19,58,77,110],"model":[20,100],"is":[21,36,81,93,119],"first":[22],"considered":[23],"as":[24,38,83,106],"controlled":[26,85],"object":[27,86],"model.":[28,87],"Then,":[29],"quasi-continuous":[31,89],"exponential":[32,90],"method":[35,118],"proposed":[37],"one":[39],"of":[40,75,115],"underactuated":[41],"methods":[43],"by":[44,101],"using":[45,102],"invariant":[46],"manifold":[47],"theory.":[48],"Next,":[49],"to":[50,60],"extend":[51],"velocity":[53],"input":[54,63],"level":[59,111],"torque":[62],"dynamical":[67,79],"level,":[68],"an":[69,98],"extended":[70,99],"consisting":[74],"and":[78],"models":[80],"treated":[82],"A":[88],"controller":[92],"further":[94],"derived":[95],"such":[97],"same":[104],"way":[105],"used":[107],"control.":[112],"The":[113],"effectiveness":[114],"present":[117],"proved":[120],"some":[122],"demonstrative":[123],"simulations.":[124]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}