{"id":"https://openalex.org/W4313496339","doi":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995802","title":"Data-Driven Control and Behavior-Based Control Applied to a SISO Mobile Robot","display_name":"Data-Driven Control and Behavior-Based Control Applied to a SISO Mobile Robot","publication_year":2022,"publication_date":"2022-10-18","ids":{"openalex":"https://openalex.org/W4313496339","doi":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995802"},"language":"en","primary_location":{"id":"doi:10.1109/lars/sbr/wre56824.2022.9995802","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995802","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE)","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/A5009981183","display_name":"M. A. Pastrana","orcid":null},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"M. A. Pastrana","raw_affiliation_strings":["University of Brasilia,Mechatronics Graduate Program, Automation and Control Group/GRACO,Department of Mechanical Engineering,Brasilia,DF,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Brasilia,Mechatronics Graduate Program, Automation and Control Group/GRACO,Department of Mechanical Engineering,Brasilia,DF,Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039311035","display_name":"Karine R. Santos","orcid":null},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Karine R. Santos","raw_affiliation_strings":["University of Brasilia,Faculty of Gama, Biomedical Engineering Graduate Program,Brasilia,DF,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Brasilia,Faculty of Gama, Biomedical Engineering Graduate Program,Brasilia,DF,Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086474853","display_name":"Alceu Bernardes Castanheira de Farias","orcid":"https://orcid.org/0000-0002-8591-2230"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Alceu B. C. de Farias","raw_affiliation_strings":["University of Brasilia,Mechatronics Graduate Program, Automation and Control Group/GRACO,Department of Mechanical Engineering,Brasilia,DF,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Brasilia,Mechatronics Graduate Program, Automation and Control Group/GRACO,Department of Mechanical Engineering,Brasilia,DF,Brazil","institution_ids":["https://openalex.org/I150729083"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050811383","display_name":"Daniel M. Mu\u00f1oz","orcid":"https://orcid.org/0000-0002-9219-6463"},"institutions":[{"id":"https://openalex.org/I150729083","display_name":"Universidade de Bras\u00edlia","ror":"https://ror.org/02xfp8v59","country_code":"BR","type":"education","lineage":["https://openalex.org/I150729083"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Daniel M. Munoz","raw_affiliation_strings":["University of Brasilia,Mechatronics Graduate Program, Automation and Control Group/GRACO,Department of Mechanical Engineering,Brasilia,DF,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Brasilia,Mechatronics Graduate Program, Automation and Control Group/GRACO,Department of Mechanical Engineering,Brasilia,DF,Brazil","institution_ids":["https://openalex.org/I150729083"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150729083"],"apc_list":null,"apc_paid":null,"fwci":5.3093,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.97418925,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"395","last_page":"400"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998000264167786,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998000264167786,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9995999932289124,"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/T11236","display_name":"Control Systems and Identification","score":0.9984999895095825,"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/pid-controller","display_name":"PID controller","score":0.6892083883285522},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6884086728096008},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6638224124908447},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6315649747848511},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.6036146879196167},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5974181890487671},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5303210616111755},{"id":"https://openalex.org/keywords/transfer-function","display_name":"Transfer function","score":0.511165201663971},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5081360340118408},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5058248043060303},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5025815963745117},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23602664470672607},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23100852966308594},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16389766335487366},{"id":"https://openalex.org/keywords/step-response","display_name":"Step response","score":0.16305577754974365},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.08883947134017944}],"concepts":[{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6892083883285522},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6884086728096008},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6638224124908447},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6315649747848511},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.6036146879196167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5974181890487671},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5303210616111755},{"id":"https://openalex.org/C81299745","wikidata":"https://www.wikidata.org/wiki/Q334269","display_name":"Transfer function","level":2,"score":0.511165201663971},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5081360340118408},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5058248043060303},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5025815963745117},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23602664470672607},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23100852966308594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16389766335487366},{"id":"https://openalex.org/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"score":0.16305577754974365},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.08883947134017944},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lars/sbr/wre56824.2022.9995802","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995802","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1513032107","https://openalex.org/W1995261008","https://openalex.org/W2040871222","https://openalex.org/W2093050664","https://openalex.org/W2131278876","https://openalex.org/W2158958729","https://openalex.org/W2508598219","https://openalex.org/W2516310909","https://openalex.org/W2559850580","https://openalex.org/W2610449507","https://openalex.org/W2759928104","https://openalex.org/W2765082137","https://openalex.org/W2789736185","https://openalex.org/W2942081376","https://openalex.org/W2947244217","https://openalex.org/W2963945659","https://openalex.org/W2972414922","https://openalex.org/W2998018987","https://openalex.org/W3010592067"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W4309582927","https://openalex.org/W2914682809","https://openalex.org/W2206837173","https://openalex.org/W2762022275","https://openalex.org/W4285202081","https://openalex.org/W1787078821","https://openalex.org/W2597935862"],"abstract_inverted_index":{"With":[0],"the":[1,42,50,56,67,71,87,112,116,126,135,167,170,175],"advancement":[2],"of":[3,10,55,74,90,148,152,159,169],"technology,":[4],"systems":[5],"in":[6],"many":[7],"different":[8],"areas":[9],"application":[11],"have":[12,38],"become":[13],"more":[14,28],"complex,":[15],"and":[16,52,62,155,174],"obtaining":[17],"reliable":[18],"mathematical":[19],"models":[20],"is":[21,25],"a":[22,60,75,91,101,122,131,156],"task":[23],"that":[24,97],"increasingly":[26],"becoming":[27],"difficult":[29],"as":[30,41,45],"well.":[31],"To":[32],"overcome":[33],"these":[34,80],"issues,":[35],"new":[36],"methodologies":[37,82],"emerged,":[39],"such":[40],"one":[43],"known":[44],"Data-Driven-Control":[46],"(DDC),":[47],"which":[48,65],"uses":[49],"input":[51],"output":[53],"data":[54],"system":[57],"to":[58,85,100,110,121,129,165],"design":[59],"controller,":[61],"Behavior-Based-Control":[63],"(BBC),":[64],"provides":[66],"controller":[68,107,138],"based":[69],"on":[70],"desired":[72],"behavior":[73],"system.":[76],"In":[77],"this":[78],"work,":[79],"two":[81],"were":[83,163],"applied":[84],"obtain":[86],"transfer":[88],"function":[89],"Single-Input":[92],"Single-Output":[93],"mobile":[94,127,171],"robotic":[95],"platform":[96],"moves":[98],"parallel":[99],"wall.":[102,136],"A":[103],"Proportional":[104],"Integral":[105],"Derivative":[106],"was":[108,119,139],"used":[109],"control":[111],"left":[113],"wheel,":[114],"while":[115],"right":[117],"wheel":[118],"set":[120],"constant":[123,132],"speed,":[124],"allowing":[125],"robot":[128,172],"maintain":[130],"distance":[133],"from":[134],"The":[137],"tuned":[140],"utilizing":[141],"root":[142],"locus":[143],"methodology":[144],"with":[145],"an":[146],"overshot":[147],"16.7%,":[149],"settling":[150],"time":[151],"6.45":[153],"seconds,":[154],"static":[157],"error":[158],"2.1%.":[160],"Additionally,":[161],"disturbances":[162],"added":[164],"test":[166],"robustness":[168],"model":[173],"PID":[176],"controller.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
