{"id":"https://openalex.org/W2005388102","doi":"https://doi.org/10.1109/iros.2012.6385555","title":"Control of a unicycle-like robot with three on-axle trailers using transverse function approach","display_name":"Control of a unicycle-like robot with three on-axle trailers using transverse function approach","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2005388102","doi":"https://doi.org/10.1109/iros.2012.6385555","mag":"2005388102"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385555","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385555","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5014048989","display_name":"Dariusz Pazderski","orcid":"https://orcid.org/0000-0002-8732-7350"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Dariusz Pazderski","raw_affiliation_strings":["Faculty of Computer Science, Poznan University of Technology, Poznan, Poland","Faculty of Computer Science, Poznan University of Technology, ul. Piotrowo 3A, Poland"],"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science, Poznan University of Technology, Poznan, Poland","institution_ids":["https://openalex.org/I46597724"]},{"raw_affiliation_string":"Faculty of Computer Science, Poznan University of Technology, ul. Piotrowo 3A, Poland","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101572184","display_name":"Krzysztof Koz\u0142owski","orcid":"https://orcid.org/0000-0002-6111-3215"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Krzysztof Kozlowski","raw_affiliation_strings":["Faculty of Computer Science, Poznan University of Technology, ul. Piotrowo 3A, Poland"],"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science, Poznan University of Technology, ul. Piotrowo 3A, Poland","institution_ids":["https://openalex.org/I46597724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5014048989"],"corresponding_institution_ids":["https://openalex.org/I46597724"],"apc_list":null,"apc_paid":null,"fwci":2.76403631,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.90639647,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"335","issue":null,"first_page":"395","last_page":"401"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9901000261306763,"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/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.7468812465667725},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6932336688041687},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5798282027244568},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.553777277469635},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4831054210662842},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4776429235935211},{"id":"https://openalex.org/keywords/axle","display_name":"Axle","score":0.46597930788993835},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.4554448127746582},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4406455457210541},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4285867214202881},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4188712537288666},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3749176263809204},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3521517515182495},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3177848756313324},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3084312677383423},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28675657510757446},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.274836927652359},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19703373312950134},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1397475302219391}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7468812465667725},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6932336688041687},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5798282027244568},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.553777277469635},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4831054210662842},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4776429235935211},{"id":"https://openalex.org/C129727815","wikidata":"https://www.wikidata.org/wiki/Q188209","display_name":"Axle","level":2,"score":0.46597930788993835},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.4554448127746582},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4406455457210541},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4285867214202881},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4188712537288666},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3749176263809204},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3521517515182495},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3177848756313324},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3084312677383423},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28675657510757446},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.274836927652359},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19703373312950134},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1397475302219391},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385555","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385555","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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":15,"referenced_works":["https://openalex.org/W149670781","https://openalex.org/W1583950709","https://openalex.org/W1633338931","https://openalex.org/W1634952812","https://openalex.org/W1971044547","https://openalex.org/W1991039881","https://openalex.org/W2098871947","https://openalex.org/W2111369225","https://openalex.org/W2112315298","https://openalex.org/W2114484121","https://openalex.org/W2122513851","https://openalex.org/W2134966857","https://openalex.org/W2143810732","https://openalex.org/W2175643442","https://openalex.org/W6642962755"],"related_works":["https://openalex.org/W650759427","https://openalex.org/W2331622280","https://openalex.org/W127377949","https://openalex.org/W4312942650","https://openalex.org/W2545991200","https://openalex.org/W2525671755","https://openalex.org/W645743027","https://openalex.org/W2979398413","https://openalex.org/W2402852349","https://openalex.org/W1532677580"],"abstract_inverted_index":{"The":[0,50,72],"paper":[1],"considers":[2],"application":[3],"of":[4,24,40,60,74,85],"a":[5,19,25,70],"controller":[6,36],"using":[7],"transverse":[8],"functions":[9],"to":[10,33,65],"solving":[11],"the":[12,35,38,41,47,66,75,83,89],"regulation":[13],"and":[14,57],"trajectory":[15],"tracking":[16],"problem":[17],"for":[18],"multi-body":[20],"vehicle":[21],"which":[22],"consists":[23],"unicycle-like":[26],"tractor":[27],"with":[28,69],"three":[29],"trailers.":[30],"In":[31],"order":[32],"facilitate":[34],"design,":[37],"kinematics":[39],"system":[42,68,78],"is":[43,53],"partially":[44],"defined":[45],"on":[46,55,82],"Lie":[48],"group.":[49],"control":[51,77],"solution":[52],"based":[54,81],"configuration":[56],"input":[58],"transformation":[59],"an":[61],"open-loop":[62],"error":[63],"dynamics":[64],"invariant":[67],"drift.":[71],"properties":[73],"closed-loop":[76],"are":[79],"examined":[80],"results":[84],"numerical":[86],"simulations":[87],"considering":[88],"selected":[90],"motion":[91],"tasks.":[92]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
