{"id":"https://openalex.org/W4393140012","doi":"https://doi.org/10.1109/lra.2024.3381088","title":"GMPC: Geometric Model Predictive Control for Wheeled Mobile Robot Trajectory Tracking","display_name":"GMPC: Geometric Model Predictive Control for Wheeled Mobile Robot Trajectory Tracking","publication_year":2024,"publication_date":"2024-03-25","ids":{"openalex":"https://openalex.org/W4393140012","doi":"https://doi.org/10.1109/lra.2024.3381088"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3381088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3381088","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062492826","display_name":"Jiawei Tang","orcid":"https://orcid.org/0000-0002-4448-0021"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jiawei Tang","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-4448-0021","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100778373","display_name":"Shuang Wu","orcid":"https://orcid.org/0000-0001-9512-2358"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Wu","raw_affiliation_strings":["Noah&#x0027;s Ark Lab, Huawei Hong Kong Research Center, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-9512-2358","affiliations":[{"raw_affiliation_string":"Noah&#x0027;s Ark Lab, Huawei Hong Kong Research Center, Hong Kong","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106942821","display_name":"Bo Lan","orcid":"https://orcid.org/0009-0009-6240-8275"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Bo Lan","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0009-0009-6240-8275","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101401405","display_name":"Yahui Dong","orcid":"https://orcid.org/0009-0002-0933-4747"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yahui Dong","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0009-0002-0933-4747","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026011909","display_name":"Yuqiang Jin","orcid":"https://orcid.org/0000-0002-2368-0497"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqiang Jin","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2368-0497","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106943333","display_name":"Guangjian Tian","orcid":"https://orcid.org/0009-0004-5377-2730"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangjian Tian","raw_affiliation_strings":["Noah&#x0027;s Ark Lab, Huawei Hong Kong Research Center, Hong Kong"],"raw_orcid":"https://orcid.org/0009-0004-5377-2730","affiliations":[{"raw_affiliation_string":"Noah&#x0027;s Ark Lab, Huawei Hong Kong Research Center, Hong Kong","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019060617","display_name":"Wen\u2010An Zhang","orcid":"https://orcid.org/0000-0002-4355-2783"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen-An Zhang","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4355-2783","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007329669","display_name":"Ling Shi","orcid":"https://orcid.org/0000-0002-6771-8258"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ling Shi","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-6771-8258","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":4.7485,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.96243073,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"9","issue":"5","first_page":"4822","last_page":"4829"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9876000285148621,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9779999852180481,"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/trajectory","display_name":"Trajectory","score":0.82208651304245},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7302314043045044},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6373394131660461},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6236674189567566},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5135524272918701},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4649578034877777},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4374735355377197},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3849322497844696},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3773246705532074},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3533366918563843},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.11965402960777283},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07501465082168579}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.82208651304245},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7302314043045044},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6373394131660461},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6236674189567566},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5135524272918701},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4649578034877777},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4374735355377197},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3849322497844696},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3773246705532074},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3533366918563843},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.11965402960777283},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07501465082168579},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3381088","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3381088","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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:repository.hkust.edu.hk:1783.1-136926","is_oa":false,"landing_page_url":"http://lbdiscover.ust.hk/uresolver?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rfr_id=info:sid/HKUST:SPI&rft.genre=article&rft.issn=&rft.volume=&rft.issue=&rft.date=2024&rft.spage=&rft.aulast=Tang&rft.aufirst=Jiawei&rft.atitle=GMPC%3A+Geometric+Model+Predictive+Control+for+Wheeled+Mobile+Robot+Trajectory+Tracking&rft.title=IEEE+Robotics+and+Automation+Letters","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5594970661","display_name":null,"funder_award_id":"62173305","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1943808550","https://openalex.org/W1968940274","https://openalex.org/W2013439434","https://openalex.org/W2033699235","https://openalex.org/W2122561468","https://openalex.org/W2123871098","https://openalex.org/W2134966857","https://openalex.org/W2221321873","https://openalex.org/W2563402321","https://openalex.org/W2769646558","https://openalex.org/W2842089854","https://openalex.org/W2896405912","https://openalex.org/W2902093375","https://openalex.org/W3004162504","https://openalex.org/W3008196964","https://openalex.org/W3101798601","https://openalex.org/W3133532447","https://openalex.org/W3169020292","https://openalex.org/W3201912410","https://openalex.org/W4221140104","https://openalex.org/W4289145348","https://openalex.org/W4312270149","https://openalex.org/W4312944585","https://openalex.org/W4313679228","https://openalex.org/W4319069007","https://openalex.org/W4319997953","https://openalex.org/W4381233153","https://openalex.org/W4383108357","https://openalex.org/W4384818013","https://openalex.org/W6848652845"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2101188133","https://openalex.org/W2903025760","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2122871747","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W3114279067"],"abstract_inverted_index":{"The":[0],"configuration":[1],"of":[2,35,63,130],"most":[3],"robotic":[4],"systems":[5],"lies":[6],"in":[7,12,27,146],"continuous":[8],"transformation":[9],"groups.":[10],"However,":[11],"mobile":[13,53,66],"robot":[14,37,54,67],"trajectory":[15,55,68,116],"tracking,":[16],"many":[17],"recent":[18],"works":[19],"still":[20],"naively":[21],"utilize":[22,82],"optimization":[23],"methods":[24],"for":[25,51],"elements":[26],"vector":[28],"space":[29],"without":[30],"considering":[31,71],"the":[32,36,60,64,83,86,94,103,108,115,128,147],"manifold":[33,73],"constraint":[34,74,77],"configuration.":[38],"In":[39],"this":[40],"letter,":[41],"we":[42,81],"propose":[43],"a":[44],"geometric":[45],"model":[46],"predictive":[47],"control":[48,96],"(MPC)":[49],"method":[50,113],"wheeled":[52,65],"tracking.":[56],"We":[57],"first":[58],"derive":[59],"error":[61],"dynamics":[62],"tracking":[69,95],"by":[70],"its":[72],"and":[75,89,124],"kinematic":[76],"simultaneously.":[78],"After":[79],"that,":[80],"relationship":[84],"between":[85],"Lie":[87,90,109],"group":[88,110],"algebra":[91],"to":[92,101,107,142],"convexify":[93],"problem,":[97],"which":[98],"enables":[99],"us":[100],"solve":[102],"problem":[104],"efficiently.":[105],"Thanks":[106],"formulation,":[111],"our":[112,131],"tracks":[114],"more":[117],"smoothly":[118],"than":[119],"existing":[120],"nonlinear":[121],"MPC.":[122],"Simulations":[123],"physical":[125],"experiments":[126],"verify":[127],"effectiveness":[129],"proposed":[132],"methods.":[133],"Our":[134],"pure":[135],"Python-based":[136],"simulation":[137],"platform":[138],"is":[139],"publicly":[140],"available":[141],"benefit":[143],"further":[144],"research":[145],"community.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":15},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":4}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
