{"id":"https://openalex.org/W4386597531","doi":"https://doi.org/10.1109/mmar58394.2023.10242479","title":"VFO control design for a mobile robot in the presence of time and input constraints","display_name":"VFO control design for a mobile robot in the presence of time and input constraints","publication_year":2023,"publication_date":"2023-08-22","ids":{"openalex":"https://openalex.org/W4386597531","doi":"https://doi.org/10.1109/mmar58394.2023.10242479"},"language":"en","primary_location":{"id":"doi:10.1109/mmar58394.2023.10242479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar58394.2023.10242479","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 27th International Conference on Methods and Models in Automation and Robotics (MMAR)","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/A5066068712","display_name":"Rafa\u0142 M. Soba\u0144ski","orcid":"https://orcid.org/0000-0002-7678-154X"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Rafa\u0142 M. Soba\u0144ski","raw_affiliation_strings":["Poznan University of Technology,Institute of Automatic Control and Robotics,Pozna&#x0144;,Poland,60-965"],"affiliations":[{"raw_affiliation_string":"Poznan University of Technology,Institute of Automatic Control and Robotics,Pozna&#x0144;,Poland,60-965","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033779541","display_name":"Maciej Marcin Micha\u0142ek","orcid":"https://orcid.org/0000-0002-9953-703X"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Maciej M. Micha\u0142ek","raw_affiliation_strings":["Poznan University of Technology,Institute of Automatic Control and Robotics,Pozna&#x0144;,Poland,60-965"],"affiliations":[{"raw_affiliation_string":"Poznan University of Technology,Institute of Automatic Control and Robotics,Pozna&#x0144;,Poland,60-965","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080284030","display_name":"Micha\u00ebl Defoort","orcid":"https://orcid.org/0000-0001-6346-0774"},"institutions":[{"id":"https://openalex.org/I70348806","display_name":"Universit\u00e9 Polytechnique Hauts-de-France","ror":"https://ror.org/02ezch769","country_code":"FR","type":"education","lineage":["https://openalex.org/I70348806"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Michael Defoort","raw_affiliation_strings":["Universit&#x00E9; Polytechnique Hauts de France,Valenciennes,France,F-59313"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E9; Polytechnique Hauts de France,Valenciennes,France,F-59313","institution_ids":["https://openalex.org/I70348806"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5066068712"],"corresponding_institution_ids":["https://openalex.org/I46597724"],"apc_list":null,"apc_paid":null,"fwci":0.3756,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.59154582,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"356","last_page":"361"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9986000061035156,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9890000224113464,"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/mobile-robot","display_name":"Mobile robot","score":0.7881371378898621},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.731329619884491},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6788812875747681},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.675927996635437},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.5341652035713196},{"id":"https://openalex.org/keywords/vector-field","display_name":"Vector field","score":0.5266953706741333},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.5034770369529724},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49983668327331543},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.4888305068016052},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4666001796722412},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4662902057170868},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4318324327468872},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4269682765007019},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.425483763217926},{"id":"https://openalex.org/keywords/transient","display_name":"Transient (computer programming)","score":0.4193379282951355},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3906097710132599},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3272249698638916},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26158416271209717},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23312446475028992},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14718908071517944},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11099129915237427},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1010461151599884},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09244999289512634},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09122255444526672}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7881371378898621},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.731329619884491},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6788812875747681},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.675927996635437},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.5341652035713196},{"id":"https://openalex.org/C91188154","wikidata":"https://www.wikidata.org/wiki/Q186247","display_name":"Vector field","level":2,"score":0.5266953706741333},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.5034770369529724},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49983668327331543},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.4888305068016052},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4666001796722412},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4662902057170868},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4318324327468872},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4269682765007019},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.425483763217926},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.4193379282951355},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3906097710132599},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3272249698638916},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26158416271209717},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23312446475028992},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14718908071517944},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11099129915237427},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1010461151599884},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09244999289512634},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09122255444526672},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar58394.2023.10242479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar58394.2023.10242479","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 27th International Conference on Methods and Models in Automation and Robotics (MMAR)","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":14,"referenced_works":["https://openalex.org/W133177558","https://openalex.org/W2015113370","https://openalex.org/W2038663511","https://openalex.org/W2062551655","https://openalex.org/W2268437176","https://openalex.org/W2886420432","https://openalex.org/W2949379566","https://openalex.org/W3099795249","https://openalex.org/W3105751933","https://openalex.org/W3186416990","https://openalex.org/W4224314738","https://openalex.org/W4283656449","https://openalex.org/W4292458084","https://openalex.org/W4312348224"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1021426334","https://openalex.org/W2323165849","https://openalex.org/W2123897685","https://openalex.org/W2293606346","https://openalex.org/W1967307436","https://openalex.org/W2889285810","https://openalex.org/W1563391512"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,28,55,63,107],"solution":[4,64],"to":[5],"the":[6,15,25,34,37,47,67],"set-point":[7],"control":[8,20,38],"problem":[9],"for":[10,58,92],"nonholonomic":[11],"mobile":[12,30],"robots":[13],"in":[14,32,106],"presence":[16],"of":[17,27,82,89,99],"time":[18,48,57,80,91],"and":[19,42,78,102],"input":[21],"constraints.":[22],"We":[23,61],"consider":[24],"kinematics":[26],"unicycle":[29],"robot,":[31],"which":[33,71],"constraints":[35,49],"on":[36,54,66],"inputs":[39],"are":[40,95],"longitudinal":[41],"angular":[43],"velocity":[44],"limitations,":[45],"while":[46],"impose":[50],"an":[51],"upper":[52,87],"bound":[53],"settling":[56,90],"stabilization":[59],"errors.":[60],"show":[62],"based":[65],"Vector-Field-Orientation":[68],"(VFO)":[69],"methodology,":[70],"is":[72],"characterized":[73],"by":[74,97],"non-oscillatory":[75],"transient":[76],"states":[77],"well-predictable":[79],"evolution":[81],"these":[83],"states.":[84],"Formally":[85],"derived":[86],"bounds":[88],"configuration":[93],"errors":[94],"verified":[96],"results":[98,104],"numerical":[100],"simulations":[101],"experimental":[103],"obtained":[105],"fast":[108],"prototyping":[109],"system.":[110]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
