{"id":"https://openalex.org/W2897561720","doi":"https://doi.org/10.1109/ivs.2018.8500578","title":"Extended Predictive Model-Mediated Teleoperation of Mobile Robots through Multilateral Control","display_name":"Extended Predictive Model-Mediated Teleoperation of Mobile Robots through Multilateral Control","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2897561720","doi":"https://doi.org/10.1109/ivs.2018.8500578","mag":"2897561720"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2018.8500578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2018.8500578","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Intelligent Vehicles Symposium (IV)","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/A5058741030","display_name":"Michael Panzirsch","orcid":"https://orcid.org/0000-0002-0647-7147"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]},{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Michael Panzirsch","raw_affiliation_strings":["Centre for Automation and Robotics (CAR) UPMCSIC, Universidad Polit\u00e9cnica de Madrid, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics (CAR) UPMCSIC, Universidad Polit\u00e9cnica de Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392","https://openalex.org/I88060688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061291919","display_name":"Harsimran Singh","orcid":"https://orcid.org/0000-0002-6735-9945"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Harsimran Singh","raw_affiliation_strings":["German Aerospace Center, Institute for Robotics and Mechatronics, Oberpfaffenhofen, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center, Institute for Robotics and Mechatronics, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000465421","display_name":"Martin Stelzer","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Stelzer","raw_affiliation_strings":["German Aerospace Center, Institute for Robotics and Mechatronics, Oberpfaffenhofen, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center, Institute for Robotics and Mechatronics, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026935526","display_name":"Martin J. Schuster","orcid":"https://orcid.org/0000-0002-6983-3719"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin J. Schuster","raw_affiliation_strings":["German Aerospace Center, Institute for Robotics and Mechatronics, Oberpfaffenhofen, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center, Institute for Robotics and Mechatronics, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["German Aerospace Center, Institute for Robotics and Mechatronics, Oberpfaffenhofen, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center, Institute for Robotics and Mechatronics, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074117864","display_name":"Manuel Ferr\u00e9","orcid":"https://orcid.org/0000-0003-0030-1551"},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]},{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Manuel Ferre","raw_affiliation_strings":["Centre for Automation and Robotics (CAR) UPMCSIC, Universidad Polit\u00e9cnica de Madrid, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics (CAR) UPMCSIC, Universidad Polit\u00e9cnica de Madrid, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392","https://openalex.org/I88060688"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5058741030"],"corresponding_institution_ids":["https://openalex.org/I4210125392","https://openalex.org/I88060688"],"apc_list":null,"apc_paid":null,"fwci":1.3377,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.79701812,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1723","last_page":"1730"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9810000061988831,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9581000208854675,"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/teleoperation","display_name":"Teleoperation","score":0.9908236265182495},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.6102529764175415},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6042312979698181},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.57916659116745},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5786221027374268},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5647172331809998},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5302265286445618},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4869471788406372},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4619385004043579},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4375303387641907},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37293487787246704},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2936333119869232},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2813398540019989},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17199277877807617}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9908236265182495},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.6102529764175415},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6042312979698181},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.57916659116745},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5786221027374268},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5647172331809998},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5302265286445618},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4869471788406372},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4619385004043579},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4375303387641907},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37293487787246704},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2936333119869232},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2813398540019989},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17199277877807617},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"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/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ivs.2018.8500578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2018.8500578","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1968563643","https://openalex.org/W1979694110","https://openalex.org/W1979936342","https://openalex.org/W2012812921","https://openalex.org/W2014317256","https://openalex.org/W2015144449","https://openalex.org/W2063596703","https://openalex.org/W2064221450","https://openalex.org/W2082997813","https://openalex.org/W2084497846","https://openalex.org/W2090972408","https://openalex.org/W2097137659","https://openalex.org/W2098393146","https://openalex.org/W2099914424","https://openalex.org/W2103543793","https://openalex.org/W2118709214","https://openalex.org/W2123652835","https://openalex.org/W2127721242","https://openalex.org/W2143509668","https://openalex.org/W2158101797","https://openalex.org/W2164301889","https://openalex.org/W2167480873","https://openalex.org/W2293891007","https://openalex.org/W2295130924","https://openalex.org/W2412432240","https://openalex.org/W2470599929","https://openalex.org/W2490055946","https://openalex.org/W2491495772","https://openalex.org/W2565265819","https://openalex.org/W2573990343","https://openalex.org/W6677821784","https://openalex.org/W6683018355","https://openalex.org/W6684289271","https://openalex.org/W6722951829","https://openalex.org/W6732731744"],"related_works":["https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2145103607","https://openalex.org/W2141648055","https://openalex.org/W4367662652"],"abstract_inverted_index":{"Despite":[0],"the":[1,25,41,49,53,68,82,85,98,111,148,164,169,175],"substantial":[2],"progression":[3],"of":[4,55,101,113,147,163,174],"autonomous":[5],"driving":[6],"systems,":[7],"their":[8],"application":[9],"is":[10,87],"often":[11],"limited":[12,88],"e.g.":[13],"due":[14,89],"to":[15,81,90,144],"safety":[16],"margins":[17],"which":[18,133],"can":[19,37,73,134],"be":[20,38,135],"caused":[21],"by":[22,125,179],"uncertainties":[23],"in":[24,48,62,106],"environment":[26],"reconstruction.":[27],"Then,":[28],"via":[29],"teleoperation":[30,59,72,116,151],"as":[31,40],"a":[32,35,118,142,183],"fallback":[33],"solution,":[34],"human-in-the-loop":[36,180],"introduced":[39],"main":[42],"decision":[43],"maker.":[44],"However,":[45],"high":[46],"delay":[47],"communication":[50],"channel":[51],"distorts":[52],"performance":[54,86],"direct":[56],"force":[57,79,131,158],"feedback":[58,80,159],"for":[60,122],"example":[61],"space":[63],"or":[64,138],"disaster":[65],"scenarios.":[66],"On":[67],"other":[69],"hand,":[70],"model-mediated":[71,115,150],"provide":[74,141],"instantaneous":[75],"and":[76,97,129,160],"even":[77],"predictive":[78],"user,":[83],"but":[84],"state":[91],"mismatches,":[92],"incomplete":[93],"models,":[94],"model":[95],"errors":[96],"modeling":[99],"challenges":[100],"complex":[102],"wheel-ground":[103],"contacts.":[104],"Therefore,":[105],"this":[107],"paper":[108],"we":[109],"introduce":[110],"concept":[112],"extended":[114,149],"with":[117,182],"car":[119],"like":[120],"interface":[121],"mobile":[123,185],"robots":[124],"fusing":[126],"local":[127,165],"fictitious":[128,157],"remote":[130],"feedback,":[132],"measured,":[136],"computed":[137],"fictitious.":[139],"We":[140],"method":[143],"guarantee":[145],"stability":[146],"(involving":[152],"time":[153],"delay,":[154],"multilateral":[155],"coupling,":[156],"permanent":[161],"updates":[162],"model)":[166],"based":[167],"on":[168],"passivity":[170],"theorem.":[171],"The":[172],"benefits":[173],"approach":[176],"are":[177],"highlighted":[178],"experiments":[181],"wheeled":[184],"robot.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
