{"id":"https://openalex.org/W4236158802","doi":"https://doi.org/10.1109/iros.2011.6094768","title":"Path Planning and Evaluation for Planetary Rovers Based on Dynamic Mobility Index","display_name":"Path Planning and Evaluation for Planetary Rovers Based on Dynamic Mobility Index","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W4236158802","doi":"https://doi.org/10.1109/iros.2011.6094768"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094768","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5018788822","display_name":"Genya Ishigami","orcid":"https://orcid.org/0000-0003-2107-3471"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"G. Ishigami","raw_affiliation_strings":["Huazhong University of Science and Technology, China"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051878004","display_name":"K. Nagatani","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"K. Nagatani","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5023419492","display_name":"Kazuya Yoshida","orcid":"https://orcid.org/0000-0003-3889-5877"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"K. Yoshida","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5018788822"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":4.5809,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.9574115,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"601","last_page":"606"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9993000030517578,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/backstepping","display_name":"Backstepping","score":0.8142338991165161},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6908507943153381},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.660999059677124},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5919918417930603},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.573922336101532},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5485731363296509},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5349608063697815},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.523317813873291},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4834350347518921},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4748131036758423},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.453165203332901},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43298494815826416},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3866189122200012},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22593924403190613},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20986366271972656},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20402729511260986},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.1950053572654724},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18522745370864868}],"concepts":[{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.8142338991165161},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6908507943153381},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.660999059677124},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5919918417930603},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.573922336101532},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5485731363296509},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5349608063697815},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.523317813873291},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4834350347518921},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4748131036758423},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.453165203332901},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43298494815826416},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3866189122200012},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22593924403190613},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20986366271972656},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20402729511260986},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.1950053572654724},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18522745370864868},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094768","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.5400000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W296739210","https://openalex.org/W1497594424","https://openalex.org/W1501018688","https://openalex.org/W1502875864","https://openalex.org/W1974663986","https://openalex.org/W1987424218","https://openalex.org/W2048820947","https://openalex.org/W2053407718","https://openalex.org/W2077029331","https://openalex.org/W2094188848","https://openalex.org/W2095897920","https://openalex.org/W2099065300","https://openalex.org/W2113600180","https://openalex.org/W2128990851","https://openalex.org/W2129667162","https://openalex.org/W2143826757","https://openalex.org/W2165216595","https://openalex.org/W4236251699","https://openalex.org/W4241816833","https://openalex.org/W4246474877","https://openalex.org/W4285502049","https://openalex.org/W6610723104","https://openalex.org/W6630122726","https://openalex.org/W6634100635","https://openalex.org/W6677065042"],"related_works":["https://openalex.org/W2771027241","https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387"],"abstract_inverted_index":{"This":[0,39],"paper":[1],"proposes":[2],"a":[3,84,101],"novel":[4],"control":[5,25,111,132,159],"strategy":[6],"for":[7,161],"autonomous":[8],"underwater":[9],"vehicles":[10],"(AUVs),":[11],"named":[12],"as":[13,37],"path":[14,20,55,61,103,157],"tracking,":[15,65],"which":[16,66],"combines":[17],"the":[18,44,54,73,78,121,144,147,153,156],"conventional":[19],"following":[21,62],"and":[22,33,50,115,137],"trajectory":[23,64],"tracking":[24,56,158],"in":[26,83],"order":[27],"to":[28,63,107,120,146],"achieve":[29],"smooth":[30],"spatial":[31],"convergence":[32,142],"tight":[34],"temporal":[35],"performance":[36],"well.":[38],"idea":[40],"is":[41,68,87,92,105,118,134],"inspired":[42],"by":[43,95],"previous":[45,74],"work":[46],"of":[47,113,123,143,155],"Hindman":[48],"[1]":[49],"Encarnacao":[51],"[2],":[52],"however,":[53],"design":[57,133,160],"herein":[58],"goes":[59],"from":[60,72],"indeed":[67],"an":[69,109],"inverse":[70],"way":[71],"solutions":[75],"so":[76],"that":[77],"complex":[79],"projection":[80],"algorithm":[81],"resulting":[82,130],"local":[85],"stability":[86],"avoided.":[88],"A":[89],"kinematics":[90],"controller":[91],"first":[93],"derived":[94],"using":[96],"Lyapunov":[97],"direct":[98],"method":[99],"where":[100],"virtual":[102],"parameter":[104],"introduced":[106],"bring":[108],"extra":[110],"degree":[112],"freedom,":[114],"then":[116],"it":[117,138],"extended":[119],"dynamics":[122],"AUVs":[124],"based":[125],"on":[126],"backstepping":[127],"technique.":[128],"The":[129],"nonlinear":[131],"formally":[135],"shown":[136],"yields":[139],"global":[140],"asymptotic":[141],"AUV":[145],"path.":[148],"Finally,":[149],"simulation":[150],"results":[151],"illustrate":[152],"efficiency":[154],"AUVs.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":5}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}
