{"id":"https://openalex.org/W4200376239","doi":"https://doi.org/10.1109/iros51168.2021.9636543","title":"Control of Spherical Robots on Uneven Terrains","display_name":"Control of Spherical Robots on Uneven Terrains","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200376239","doi":"https://doi.org/10.1109/iros51168.2021.9636543"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636543","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5011731342","display_name":"Sahand Sabet","orcid":"https://orcid.org/0000-0002-7953-4552"},"institutions":[{"id":"https://openalex.org/I138006243","display_name":"University of Arizona","ror":"https://ror.org/03m2x1q45","country_code":"US","type":"education","lineage":["https://openalex.org/I138006243"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sahand Sabet","raw_affiliation_strings":["University of Arizona, Tucson, AZ, USA"],"affiliations":[{"raw_affiliation_string":"University of Arizona, Tucson, AZ, USA","institution_ids":["https://openalex.org/I138006243"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081081302","display_name":"Mohammad Poursina","orcid":"https://orcid.org/0000-0002-1886-2181"},"institutions":[{"id":"https://openalex.org/I200650556","display_name":"University of Agder","ror":"https://ror.org/03x297z98","country_code":"NO","type":"education","lineage":["https://openalex.org/I200650556"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Mohammad Poursina","raw_affiliation_strings":["University of Agder, Grimstad, Norway"],"affiliations":[{"raw_affiliation_string":"University of Agder, Grimstad, Norway","institution_ids":["https://openalex.org/I200650556"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039718400","display_name":"Parviz E. Nikravesh","orcid":"https://orcid.org/0000-0003-2034-6714"},"institutions":[{"id":"https://openalex.org/I138006243","display_name":"University of Arizona","ror":"https://ror.org/03m2x1q45","country_code":"US","type":"education","lineage":["https://openalex.org/I138006243"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Parviz E. Nikravesh","raw_affiliation_strings":["University of Arizona, Tucson, AZ, USA"],"affiliations":[{"raw_affiliation_string":"University of Arizona, Tucson, AZ, USA","institution_ids":["https://openalex.org/I138006243"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5011731342"],"corresponding_institution_ids":["https://openalex.org/I138006243"],"apc_list":null,"apc_paid":null,"fwci":0.1314,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.49505943,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8159","last_page":"8165"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9961000084877014,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9908999800682068,"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/terrain","display_name":"Terrain","score":0.9133766889572144},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8485902547836304},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6187311410903931},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.606779932975769},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5489473938941956},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5163044333457947},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.48720043897628784},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41780561208724976},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34305477142333984},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3364541232585907},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30554836988449097},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2602056860923767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2347775399684906},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10673341155052185},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09036195278167725}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.9133766889572144},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8485902547836304},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6187311410903931},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.606779932975769},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5489473938941956},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5163044333457947},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.48720043897628784},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41780561208724976},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34305477142333984},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3364541232585907},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30554836988449097},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2602056860923767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2347775399684906},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10673341155052185},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09036195278167725},{"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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9636543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636543","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.arizona.edu:10150/663524","is_oa":false,"landing_page_url":"http://hdl.handle.net/10150/663524","pdf_url":null,"source":{"id":"https://openalex.org/S4306400271","display_name":"UA Campus Repository (The University of Arizona)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138006243","host_organization_name":"University of Arizona","host_organization_lineage":["https://openalex.org/I138006243"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1984088642","https://openalex.org/W2010558420","https://openalex.org/W2039046820","https://openalex.org/W2040591779","https://openalex.org/W2060177965","https://openalex.org/W2067418688","https://openalex.org/W2095514019","https://openalex.org/W2101196304","https://openalex.org/W2108025202","https://openalex.org/W2111338039","https://openalex.org/W2128055208","https://openalex.org/W2181364363","https://openalex.org/W2523163932","https://openalex.org/W2620373484","https://openalex.org/W2897872881","https://openalex.org/W2953109067","https://openalex.org/W3003464919","https://openalex.org/W3045247650","https://openalex.org/W3100874234","https://openalex.org/W4246923680","https://openalex.org/W4253552955","https://openalex.org/W6676265620"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W3104633800","https://openalex.org/W2914059119","https://openalex.org/W3023567978","https://openalex.org/W2069184433","https://openalex.org/W3044778482","https://openalex.org/W3040494141","https://openalex.org/W2132444301","https://openalex.org/W2018658498"],"abstract_inverted_index":{"Hybrid":[0],"robots":[1,23,50,70,111],"incorporate":[2],"the":[3,25,36,42,82,94,101,107],"advantages":[4],"of":[5,35,39,48,68,109],"both":[6],"aerial-only":[7],"and":[8,15,65],"terrestrial-only":[9],"vehicles":[10],"to":[11,60,96],"achieve":[12],"enhanced":[13],"mobility":[14],"better":[16],"energy":[17],"efficiency.":[18],"Among":[19],"hybrid":[20],"vehicles,":[21],"spherical":[22,40,69,110],"offer":[24],"best":[26],"maneuverability.":[27],"While":[28],"operating":[29],"on":[30,51,71],"uneven":[31,72],"surfaces":[32],"is":[33,84],"one":[34],"main":[37],"benefits":[38],"robots,":[41],"current":[43],"literature":[44],"only":[45],"covers":[46],"control":[47,58,76],"these":[49],"flat":[52],"surfaces.":[53],"This":[54],"work":[55,105],"presents":[56],"two":[57],"algorithms":[59,77],"track":[61],"a":[62],"desired":[63],"trajectory":[64],"angular":[66],"velocity":[67],"terrains.":[73],"The":[74],"proposed":[75],"can":[78],"be":[79],"used":[80],"when":[81],"terrain":[83,102],"known":[85],"analytically":[86],"or":[87],"empirically":[88],"(i.e.,":[89],"point":[90],"cloud).":[91],"By":[92],"allowing":[93],"controller":[95],"use":[97],"empirical":[98],"information":[99],"about":[100],"profile,":[103],"this":[104],"broadens":[106],"implementation":[108],"in":[112],"real":[113],"applications.":[114]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
