{"id":"https://openalex.org/W2743905955","doi":"https://doi.org/10.1109/isie.2017.8001301","title":"Parking of nonholonomic mobile robots via switched control in the discrete time domain","display_name":"Parking of nonholonomic mobile robots via switched control in the discrete time domain","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2743905955","doi":"https://doi.org/10.1109/isie.2017.8001301","mag":"2743905955"},"language":"en","primary_location":{"id":"doi:10.1109/isie.2017.8001301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie.2017.8001301","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100700917","display_name":"Zhengguo Li","orcid":"https://orcid.org/0000-0002-4525-1204"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhengguo Li","raw_affiliation_strings":["Robotics Department, Institute for Infocomm Research, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Department, Institute for Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055373759","display_name":"Ying Zou","orcid":"https://orcid.org/0000-0002-1410-1449"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ying Zou","raw_affiliation_strings":["School of Electrical and Electronic Engineering Nanyang, Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering Nanyang, Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100344158","display_name":"Changyun Wen","orcid":"https://orcid.org/0000-0001-9530-360X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Changyun Wen","raw_affiliation_strings":["School of Electrical and Electronic Engineering Nanyang, Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering Nanyang, Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4776,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.76458129,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"39","issue":null,"first_page":"526","last_page":"532"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998999834060669,"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/T12546","display_name":"Smart Parking Systems Research","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/mobile-robot","display_name":"Mobile robot","score":0.803521990776062},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.7736064195632935},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6942850351333618},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.647108793258667},{"id":"https://openalex.org/keywords/discrete-time-and-continuous-time","display_name":"Discrete time and continuous time","score":0.6459735631942749},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6356267333030701},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6352783441543579},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6345512866973877},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4860863983631134},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.45008203387260437},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4245072901248932},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.41069743037223816},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.37665918469429016},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3312811255455017},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25419479608535767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.251298189163208},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19833305478096008},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18366265296936035}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.803521990776062},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.7736064195632935},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6942850351333618},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.647108793258667},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.6459735631942749},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6356267333030701},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6352783441543579},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6345512866973877},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4860863983631134},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45008203387260437},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4245072901248932},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.41069743037223816},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37665918469429016},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3312811255455017},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25419479608535767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.251298189163208},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19833305478096008},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18366265296936035},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isie.2017.8001301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie.2017.8001301","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","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":20,"referenced_works":["https://openalex.org/W1892696017","https://openalex.org/W1935926926","https://openalex.org/W1969483458","https://openalex.org/W1986302906","https://openalex.org/W2016812753","https://openalex.org/W2099761232","https://openalex.org/W2100165947","https://openalex.org/W2117211893","https://openalex.org/W2123163989","https://openalex.org/W2133066324","https://openalex.org/W2139711799","https://openalex.org/W2152536965","https://openalex.org/W2156734731","https://openalex.org/W2167204560","https://openalex.org/W2167501464","https://openalex.org/W2172133054","https://openalex.org/W2412669390","https://openalex.org/W2414947275","https://openalex.org/W3103759471","https://openalex.org/W6639728422"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2072887367","https://openalex.org/W2332386680","https://openalex.org/W2561315646","https://openalex.org/W2248621902","https://openalex.org/W2003779889","https://openalex.org/W3038010003","https://openalex.org/W1545878932","https://openalex.org/W2090809046","https://openalex.org/W2024076415"],"abstract_inverted_index":{"Due":[0],"to":[1,7,71,86,104],"nonholonomic":[2],"constraints,":[3],"it":[4],"is":[5,25,45,64,84,102],"challenging":[6],"study":[8],"parking":[9,34,153],"of":[10,35,51,54,61,75,93,114,121,131,139,147,154],"mobile":[11,36,100,155],"robots,":[12],"especially":[13],"in":[14,27],"the":[15,28,33,49,62,73,76,80,89,96,99,106,115,126,132,137,145,148],"discrete":[16,29,55,68,122],"time":[17,30,56,69,123],"domain.":[18],"In":[19],"this":[20],"paper,":[21],"a":[22,39,52,118],"switched":[23,150],"controller":[24,44,151],"designed":[26],"domain":[31],"for":[32,152],"robots":[37],"towards":[38,95],"target":[40,97,127],"pose.":[41,128],"The":[42,58,129],"proposed":[43,149],"implemented":[46],"by":[47],"using":[48,112],"concept":[50],"sequence":[53],"instances.":[57],"angular":[59],"velocity":[60],"robot":[63,101,116],"fixed":[65],"between":[66],"two":[67],"instances":[70,124],"guarantee":[72],"controllability":[74],"error":[77],"dynamics.":[78],"Moreover,":[79],"conventional":[81],"pole":[82],"assignment":[83],"employed":[85],"asymptotically":[87],"stabilize":[88],"system.":[90],"Meanwhile,":[91],"instead":[92],"moving":[94],"pose,":[98],"driven":[103],"approach":[105],"intermediated":[107,134],"poses,":[108],"which":[109],"are":[110],"constructed":[111],"positions":[113],"at":[117],"predefined":[119],"set":[120],"and":[125],"introduction":[130],"time-varying":[133],"poses":[135],"reduces":[136],"risk":[138],"high":[140],"gain.":[141],"Simulation":[142],"results":[143],"demonstrate":[144],"effectiveness":[146],"robots.":[156]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
