{"id":"https://openalex.org/W2139040992","doi":"https://doi.org/10.1109/iros.2013.6696432","title":"An overall control strategy based on target reaching for the navigation of an urban electric vehicle","display_name":"An overall control strategy based on target reaching for the navigation of an urban electric vehicle","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2139040992","doi":"https://doi.org/10.1109/iros.2013.6696432","mag":"2139040992"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696432","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/A5050962003","display_name":"Jos\u00e9 Miguel Vilca Ventura","orcid":"https://orcid.org/0000-0003-1555-6717"},"institutions":[{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Jose Vilca","raw_affiliation_strings":["Institut Pascal, Blaise Pascal University - UMR CNRS, Clermont-Ferrand, France","Inst. Pascal, Blaise Pascal Univ., Clermont-Ferrand, France"],"affiliations":[{"raw_affiliation_string":"Institut Pascal, Blaise Pascal University - UMR CNRS, Clermont-Ferrand, France","institution_ids":["https://openalex.org/I169645620","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Inst. Pascal, Blaise Pascal Univ., Clermont-Ferrand, France","institution_ids":["https://openalex.org/I198244214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017138940","display_name":"Lounis Adouane","orcid":"https://orcid.org/0000-0002-5686-5279"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Lounis Adouane","raw_affiliation_strings":["Institut Pascal, Blaise Pascal University - UMR CNRS, Clermont-Ferrand, France","Inst. Pascal, Blaise Pascal Univ., Clermont-Ferrand, France"],"affiliations":[{"raw_affiliation_string":"Institut Pascal, Blaise Pascal University - UMR CNRS, Clermont-Ferrand, France","institution_ids":["https://openalex.org/I169645620","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Inst. Pascal, Blaise Pascal Univ., Clermont-Ferrand, France","institution_ids":["https://openalex.org/I198244214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048178604","display_name":"Youcef Mezouar","orcid":"https://orcid.org/0000-0001-8138-3928"},"institutions":[{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]},{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Youcef Mezouar","raw_affiliation_strings":["Institut Pascal, Blaise Pascal University - UMR CNRS, Clermont-Ferrand, France","Inst. Pascal, Blaise Pascal Univ., Clermont-Ferrand, France"],"affiliations":[{"raw_affiliation_string":"Institut Pascal, Blaise Pascal University - UMR CNRS, Clermont-Ferrand, France","institution_ids":["https://openalex.org/I169645620","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Inst. Pascal, Blaise Pascal Univ., Clermont-Ferrand, France","institution_ids":["https://openalex.org/I198244214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026720007","display_name":"Pierre L\u00e9braly","orcid":null},"institutions":[{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pierre Lebraly","raw_affiliation_strings":["Institut Pascal, Blaise Pascal University - UMR CNRS, Clermont-Ferrand, France","Inst. Pascal, Blaise Pascal Univ., Clermont-Ferrand, France"],"affiliations":[{"raw_affiliation_string":"Institut Pascal, Blaise Pascal University - UMR CNRS, Clermont-Ferrand, France","institution_ids":["https://openalex.org/I169645620","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Inst. Pascal, Blaise Pascal Univ., Clermont-Ferrand, France","institution_ids":["https://openalex.org/I198244214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5050962003"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214"],"apc_list":null,"apc_paid":null,"fwci":1.5149,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.85956995,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"7508","issue":null,"first_page":"728","last_page":"734"},"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":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.7634236812591553},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6599937081336975},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.6126231551170349},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6015745401382446},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5985207557678223},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5861726403236389},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5702084302902222},{"id":"https://openalex.org/keywords/sigmoid-function","display_name":"Sigmoid function","score":0.5676941275596619},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5291538238525391},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4954320192337036},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43459370732307434},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3178738057613373},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20758795738220215},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.19625243544578552}],"concepts":[{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.7634236812591553},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6599937081336975},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.6126231551170349},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6015745401382446},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5985207557678223},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5861726403236389},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5702084302902222},{"id":"https://openalex.org/C81388566","wikidata":"https://www.wikidata.org/wiki/Q526668","display_name":"Sigmoid function","level":3,"score":0.5676941275596619},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5291538238525391},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4954320192337036},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43459370732307434},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3178738057613373},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20758795738220215},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.19625243544578552},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696432","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1424654272","https://openalex.org/W1558979968","https://openalex.org/W1560270123","https://openalex.org/W1964923836","https://openalex.org/W1970359210","https://openalex.org/W1971044547","https://openalex.org/W1976201601","https://openalex.org/W1991089820","https://openalex.org/W2003713875","https://openalex.org/W2010357878","https://openalex.org/W2025100466","https://openalex.org/W2041821885","https://openalex.org/W2050598379","https://openalex.org/W2066705705","https://openalex.org/W2102121543","https://openalex.org/W2127988032","https://openalex.org/W2133066324","https://openalex.org/W2139141175","https://openalex.org/W2207462863","https://openalex.org/W2611243847","https://openalex.org/W2741675589","https://openalex.org/W4242811155","https://openalex.org/W6641236807","https://openalex.org/W6642962755","https://openalex.org/W6663423525","https://openalex.org/W6688002275"],"related_works":["https://openalex.org/W4385957115","https://openalex.org/W2061372042","https://openalex.org/W3047779762","https://openalex.org/W1520030019","https://openalex.org/W2071654592","https://openalex.org/W2088157920","https://openalex.org/W4283785902","https://openalex.org/W4313324256","https://openalex.org/W2145006118","https://openalex.org/W1986454063"],"abstract_inverted_index":{"This":[0],"paper":[1,43],"deals":[2],"with":[3,36,77],"reactive":[4],"and":[5,67,88,111,122],"flexible":[6,46,87],"humanlike":[7],"autonomous":[8],"vehicle":[9,40,52,90],"navigation.":[10],"A":[11],"human":[12],"driver":[13],"reactively":[14],"guides":[15],"his":[16],"vehicle,":[17],"performing":[18],"a":[19,33,45,51,61,72],"smooth":[20],"trajectory":[21],"within":[22],"the":[23,28,100,120,125],"roads":[24],"limits":[25],"until":[26],"reaching":[27],"defined":[29],"goal.":[30],"To":[31],"obtain":[32],"similar":[34],"behavior":[35],"an":[37,78],"unmanned":[38],"ground":[39],"(UGV),":[41],"this":[42],"proposes":[44],"control":[47,65,102,126],"law":[48],"to":[49,84,107,118],"drive":[50],"towards":[53],"desired":[54],"static":[55],"or":[56],"dynamic":[57],"targets":[58],"based":[59],"on":[60],"novel":[62],"definition":[63],"of":[64,99,124],"variables":[66],"Lyapunov":[68,108],"stability":[69,98],"analysis.":[70],"Moreover,":[71],"target":[73],"assignment":[74],"strategy,":[75],"combined":[76],"appropriate":[79],"sigmoid":[80],"function,":[81],"that":[82],"allow":[83],"perform":[85],"smooth,":[86],"safe":[89],"navigation":[91],"through":[92],"successive":[93],"waypoints":[94],"is":[95,104],"presented.":[96],"The":[97],"proposed":[101],"strategy":[103],"proved":[105],"according":[106],"synthesis.":[109],"Simulations":[110],"experiments":[112],"are":[113],"performed":[114],"in":[115],"different":[116],"cases":[117],"demonstrate":[119],"reliability":[121],"efficiency":[123],"strategy.":[127]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
