{"id":"https://openalex.org/W2561820407","doi":"https://doi.org/10.1109/lra.2016.2638466","title":"Motion Discontinuity-Robust Controller for Steerable Mobile Robots","display_name":"Motion Discontinuity-Robust Controller for Steerable Mobile Robots","publication_year":2016,"publication_date":"2016-12-12","ids":{"openalex":"https://openalex.org/W2561820407","doi":"https://doi.org/10.1109/lra.2016.2638466","mag":"2561820407"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2638466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2638466","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01489043","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028104279","display_name":"Mohamed Sorour","orcid":"https://orcid.org/0000-0001-5570-6447"},"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/I268709337","display_name":"PSA Peugeot Citro\u00ebn (France)","ror":"https://ror.org/04zgvy449","country_code":"FR","type":"company","lineage":["https://openalex.org/I268709337"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Mohamed Sorour","raw_affiliation_strings":["Interactive Digital Human Group, University of Montpellier CNRS, Montpellier, France","PSA Peugeot-Citroen, Paris, France","PSA Peugeot - Citro\u00ebn","Interactive Digital Humans"],"affiliations":[{"raw_affiliation_string":"Interactive Digital Human Group, University of Montpellier CNRS, Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"PSA Peugeot-Citroen, Paris, France","institution_ids":["https://openalex.org/I268709337"]},{"raw_affiliation_string":"PSA Peugeot - Citro\u00ebn","institution_ids":["https://openalex.org/I268709337"]},{"raw_affiliation_string":"Interactive Digital Humans","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022568011","display_name":"Andrea Cherubini","orcid":"https://orcid.org/0000-0002-7272-6922"},"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/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andrea Cherubini","raw_affiliation_strings":["Interactive Digital Human Group, University of Montpellier CNRS, Montpellier, France","Interactive Digital Humans"],"affiliations":[{"raw_affiliation_string":"Interactive Digital Human Group, University of Montpellier CNRS, Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Interactive Digital Humans","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070253135","display_name":"Philippe Fraisse","orcid":"https://orcid.org/0000-0003-0911-0743"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"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":"Philippe Fraisse","raw_affiliation_strings":["Interactive Digital Human Group, University of Montpellier CNRS, Montpellier, France","Interactive Digital Humans"],"affiliations":[{"raw_affiliation_string":"Interactive Digital Human Group, University of Montpellier CNRS, Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Interactive Digital Humans","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064753856","display_name":"Robin Passama","orcid":null},"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/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Robin Passama","raw_affiliation_strings":["Interactive Digital Human Group, University of Montpellier CNRS, Montpellier, France","Interactive Digital Humans"],"affiliations":[{"raw_affiliation_string":"Interactive Digital Human Group, University of Montpellier CNRS, Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Interactive Digital Humans","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5028104279"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I268709337"],"apc_list":null,"apc_paid":null,"fwci":1.339,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.83182367,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"2","issue":"2","first_page":"452","last_page":"459"},"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":0.9994000196456909,"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":0.9990000128746033,"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/control-theory","display_name":"Control theory (sociology)","score":0.642991304397583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6031639575958252},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5848443508148193},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5479056239128113},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5330079197883606},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4999423027038574},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.49209803342819214},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4813876450061798},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3902459442615509},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3061898350715637},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.245322585105896}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.642991304397583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6031639575958252},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5848443508148193},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5479056239128113},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5330079197883606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4999423027038574},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.49209803342819214},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4813876450061798},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3902459442615509},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3061898350715637},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.245322585105896},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","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":2,"locations":[{"id":"doi:10.1109/lra.2016.2638466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2638466","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01489043v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01489043","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2017, 2 (2), pp.452-459. ⟨10.1109/LRA.2016.2638466⟩","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01489043v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01489043","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2017, 2 (2), pp.452-459. ⟨10.1109/LRA.2016.2638466⟩","raw_type":"Journal articles"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1941854539","https://openalex.org/W1990074184","https://openalex.org/W1999426267","https://openalex.org/W2015003349","https://openalex.org/W2022565364","https://openalex.org/W2041943652","https://openalex.org/W2046387417","https://openalex.org/W2058544403","https://openalex.org/W2090426736","https://openalex.org/W2114897272","https://openalex.org/W2120064061","https://openalex.org/W2126826364","https://openalex.org/W2149012351","https://openalex.org/W2166085119","https://openalex.org/W2169673025","https://openalex.org/W2286945029","https://openalex.org/W3141249872"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2326117494","https://openalex.org/W2102645302","https://openalex.org/W2018658498"],"abstract_inverted_index":{"Steerable":[0],"wheeled":[1],"mobile":[2,195],"robots":[3,25],"are":[4,45,53],"able":[5],"to":[6,20,69,90,97,118],"perform":[7],"arbitrary":[8],"three-dimensional":[9],"(3-D)":[10],"planar":[11],"trajectories,":[12],"only":[13],"after":[14],"initializing":[15],"the":[16,21,57,75,80,102,105,119,129,154,172,192],"steer":[17,115],"joint":[18,116,156],"vector":[19],"proper":[22],"values.":[23],"These":[24],"employ":[26],"fully":[27],"steerable":[28],"conventional":[29],"wheels.":[30],"Hence,":[31],"they":[32],"have":[33],"higher":[34],"load":[35],"carrying":[36],"capacity":[37],"than":[38],"their":[39],"holonomic":[40],"counterparts,":[41],"and":[42,96,131,183],"as":[43],"such":[44],"preferable":[46],"for":[47,56,82],"industrial":[48,194],"applications.":[49],"Industrial":[50],"setups":[51],"nowadays":[52],"being":[54],"prepared":[55],"emerging":[58],"field":[59,64],"of":[60,104,109,146],"human-robot":[61],"collaboration/cooperation.":[62],"Such":[63],"is":[65,125,144,160,178],"highly":[66],"dynamic,":[67],"due":[68],"fast":[70],"moving":[71],"human":[72,83],"workers,":[73],"sharing":[74],"operation":[76],"space.":[77,175],"This":[78,123,159],"imposes":[79],"need":[81],"safe":[84],"trajectory":[85],"generators":[86],"that":[87,143],"can":[88],"lead":[89],"frequent":[91],"halts":[92],"in":[93,101,128,149,171],"motion,":[94],"replanning,":[95],"sudden,":[98],"discontinuous":[99],"changes":[100],"position":[103],"robot's":[106],"instantaneous":[107],"center":[108],"rotation":[110],"(ICR).":[111],"Indeed,":[112],"this":[113,133],"requires":[114],"reconfiguration":[117],"newly":[120],"computed":[121],"trajectory.":[122],"issue":[124],"almost":[126],"ignored":[127],"literature":[130],"motivates":[132],"work.":[134],"The":[135,176],"authors":[136],"propose":[137],"a":[138,164],"new":[139],"ICR-based":[140],"kinematic":[141,184],"controller,":[142],"capable":[145],"handling":[147],"discontinuity":[148],"commanded":[150],"velocity":[151],"while":[152],"respecting":[153],"maximum":[155],"performance":[157],"limit.":[158],"done":[161],"by":[162],"formulating":[163],"quadratic":[165],"optimization":[166],"problem":[167],"with":[168],"linear":[169],"constraints":[170],"2-D":[173],"ICR":[174],"controller":[177],"also":[179],"robust":[180],"against":[181],"representation":[182],"singularities.":[185],"It":[186],"has":[187],"been":[188],"tested":[189],"successfully":[190],"on":[191],"Neobotix-MPO700":[193],"robot.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}