{"id":"https://openalex.org/W1983872221","doi":"https://doi.org/10.1109/iros.2013.6696350","title":"Visual teach and repeat, repeat, repeat: Iterative Learning Control to improve mobile robot path tracking in challenging outdoor environments","display_name":"Visual teach and repeat, repeat, repeat: Iterative Learning Control to improve mobile robot path tracking in challenging outdoor environments","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W1983872221","doi":"https://doi.org/10.1109/iros.2013.6696350","mag":"1983872221"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696350","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5075325091","display_name":"Chris J. Ostafew","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Chris J. Ostafew","raw_affiliation_strings":["Autonomous Space Robotics Lab at the University of Toronto Institute for Aerospace Studies, Toronto, On-tario, Canada","Autonomous Space Robot. Lab., Univ. of Toronto, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Autonomous Space Robotics Lab at the University of Toronto Institute for Aerospace Studies, Toronto, On-tario, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Autonomous Space Robot. Lab., Univ. of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052147335","display_name":"Angela P. Schoellig","orcid":"https://orcid.org/0000-0003-4012-4668"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Angela P. Schoellig","raw_affiliation_strings":["Autonomous Space Robotics Lab at the University of Toronto Institute for Aerospace Studies, Toronto, On-tario, Canada","Autonomous Space Robot. Lab., Univ. of Toronto, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Autonomous Space Robotics Lab at the University of Toronto Institute for Aerospace Studies, Toronto, On-tario, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Autonomous Space Robot. Lab., Univ. of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004788089","display_name":"Timothy D. Barfoot","orcid":"https://orcid.org/0000-0003-3899-631X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Timothy D. Barfoot","raw_affiliation_strings":["Autonomous Space Robotics Lab at the University of Toronto Institute for Aerospace Studies, Toronto, On-tario, Canada","Autonomous Space Robot. Lab., Univ. of Toronto, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Autonomous Space Robotics Lab at the University of Toronto Institute for Aerospace Studies, Toronto, On-tario, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Autonomous Space Robot. Lab., Univ. of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5075325091"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":8.5842,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.97475199,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","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/T11749","display_name":"Iterative Learning Control Systems","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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9866999983787537,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9800999760627747,"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/iterative-learning-control","display_name":"Iterative learning control","score":0.8287739157676697},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6921284794807434},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6225559115409851},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6217429637908936},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6115602850914001},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5890435576438904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.560388445854187},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5430038571357727},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.532495379447937},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5220503807067871},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4900990426540375},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42773401737213135},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4141653776168823},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39908459782600403},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26582297682762146},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2508470416069031},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2474471926689148},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09063926339149475}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.8287739157676697},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6921284794807434},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6225559115409851},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6217429637908936},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6115602850914001},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5890435576438904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.560388445854187},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5430038571357727},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.532495379447937},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5220503807067871},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4900990426540375},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42773401737213135},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4141653776168823},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39908459782600403},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26582297682762146},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2508470416069031},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2474471926689148},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09063926339149475},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696350","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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":22,"referenced_works":["https://openalex.org/W1986365607","https://openalex.org/W1997543377","https://openalex.org/W2006368361","https://openalex.org/W2007079389","https://openalex.org/W2010905732","https://openalex.org/W2041242313","https://openalex.org/W2062791150","https://openalex.org/W2085261163","https://openalex.org/W2092116305","https://openalex.org/W2099964852","https://openalex.org/W2117321644","https://openalex.org/W2118673821","https://openalex.org/W2127103439","https://openalex.org/W2146396918","https://openalex.org/W2159038290","https://openalex.org/W2169741156","https://openalex.org/W2171414411","https://openalex.org/W3083391807","https://openalex.org/W4230475428","https://openalex.org/W4232775405","https://openalex.org/W4253850128","https://openalex.org/W6685037201"],"related_works":["https://openalex.org/W4285089922","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344"],"abstract_inverted_index":{"This":[0],"paper":[1,56],"presents":[2,57],"a":[3,10,19,31,67,84,106],"path-repeating,":[4],"mobile":[5],"robot":[6,71,88,120],"controller":[7,22,37],"that":[8],"combines":[9],"feedforward,":[11],"proportional":[12],"Iterative":[13],"Learning":[14],"Control":[15],"(ILC)":[16],"algorithm":[17],"with":[18],"feedback-linearized":[20],"path-tracking":[21,25,115],"to":[23,93,113],"reduce":[24,114],"errors":[26,116],"over":[27,61],"repeated":[28],"traverses":[29],"along":[30],"reference":[32],"path.":[33],"Localization":[34],"for":[35],"the":[36,98,103],"is":[38,111],"provided":[39],"by":[40,66,83,118],"an":[41],"on-board,":[42],"vision-based":[43],"mapping":[44],"and":[45,79,82,122],"navigation":[46],"system":[47],"enabling":[48],"operation":[49],"in":[50],"large-scale,":[51],"GPS-denied,":[52],"extreme":[53],"environments.":[54],"The":[55],"experimental":[58],"results":[59],"including":[60,76],"600":[62],"m":[63],"of":[64,105],"travel":[65],"four-wheeled,":[68],"50":[69],"kg":[70,87],"travelling":[72],"through":[73],"challenging":[74],"terrain":[75,123],"steep":[77],"hills":[78],"sandy":[80],"turns":[81],"six-wheeled,":[85],"160":[86],"at":[89],"gradually-increased":[90],"speeds":[91],"up":[92],"three":[94],"times":[95],"faster":[96],"than":[97],"nominal,":[99],"safe":[100],"speed.":[101],"In":[102],"absence":[104],"global":[107],"localization":[108],"system,":[109],"ILC":[110],"demonstrated":[112],"caused":[117],"unmodelled":[119],"dynamics":[121],"challenges.":[124]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}