{"id":"https://openalex.org/W3214947342","doi":"https://doi.org/10.1109/niles53778.2021.9600539","title":"Navigation of an n-link Revolute Robotic Arm via Hierarchal Landmarks","display_name":"Navigation of an n-link Revolute Robotic Arm via Hierarchal Landmarks","publication_year":2021,"publication_date":"2021-10-23","ids":{"openalex":"https://openalex.org/W3214947342","doi":"https://doi.org/10.1109/niles53778.2021.9600539","mag":"3214947342"},"language":"en","primary_location":{"id":"doi:10.1109/niles53778.2021.9600539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/niles53778.2021.9600539","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 3rd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://eprints.covenantuniversity.edu.ng/13226/1/Oyekola.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029714460","display_name":"Ravinesh Chand","orcid":"https://orcid.org/0000-0003-2861-3039"},"institutions":[{"id":"https://openalex.org/I75418795","display_name":"Fiji National University","ror":"https://ror.org/00qk2nf71","country_code":"FJ","type":"education","lineage":["https://openalex.org/I75418795"]}],"countries":["FJ"],"is_corresponding":true,"raw_author_name":"Ravinesh Chand","raw_affiliation_strings":["School of Mathematical & Computing Sciences, Fiji National University, Suva, Fiji"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mathematical & Computing Sciences, Fiji National University, Suva, Fiji","institution_ids":["https://openalex.org/I75418795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037019498","display_name":"Sandeep A. Kumar","orcid":"https://orcid.org/0000-0002-6951-4742"},"institutions":[{"id":"https://openalex.org/I44666525","display_name":"University of the South Pacific","ror":"https://ror.org/008stv805","country_code":"FJ","type":"education","lineage":["https://openalex.org/I44666525"]}],"countries":["FJ"],"is_corresponding":false,"raw_author_name":"Sandeep A. Kumar","raw_affiliation_strings":["School of Information Technology, Engineering, Mathematics & Physics, The University of the South Pacific, Suva, Fiji"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Technology, Engineering, Mathematics & Physics, The University of the South Pacific, Suva, Fiji","institution_ids":["https://openalex.org/I44666525"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068031807","display_name":"Ronal P. Chand","orcid":"https://orcid.org/0000-0002-8527-040X"},"institutions":[{"id":"https://openalex.org/I75418795","display_name":"Fiji National University","ror":"https://ror.org/00qk2nf71","country_code":"FJ","type":"education","lineage":["https://openalex.org/I75418795"]}],"countries":["FJ"],"is_corresponding":false,"raw_author_name":"Ronal P. Chand","raw_affiliation_strings":["School of Mathematical & Computing Sciences, Fiji National University, Suva, Fiji"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mathematical & Computing Sciences, Fiji National University, Suva, Fiji","institution_ids":["https://openalex.org/I75418795"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5029714460"],"corresponding_institution_ids":["https://openalex.org/I75418795"],"apc_list":null,"apc_paid":null,"fwci":1.249,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.7984731,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"188","last_page":"192"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear 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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9987000226974487,"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/revolute-joint","display_name":"Revolute joint","score":0.9240548014640808},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.7387813329696655},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5679279565811157},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.5541636943817139},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5531166195869446},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5320217609405518},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.48827600479125977},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.4506049156188965},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44754329323768616},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4137755334377289},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3294033110141754},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3202480673789978},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.303871214389801},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19109347462654114},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05618295073509216}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.9240548014640808},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.7387813329696655},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5679279565811157},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.5541636943817139},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5531166195869446},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5320217609405518},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.48827600479125977},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.4506049156188965},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44754329323768616},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4137755334377289},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3294033110141754},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3202480673789978},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.303871214389801},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19109347462654114},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05618295073509216},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/niles53778.2021.9600539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/niles53778.2021.9600539","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 3rd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","raw_type":"proceedings-article"},{"id":"pmh:oai:generic.eprints.org:13226","is_oa":true,"landing_page_url":"http://publications.eng.cam.ac.uk/13226/","pdf_url":"http://eprints.covenantuniversity.edu.ng/13226/1/Oyekola.pdf","source":{"id":"https://openalex.org/S4306400995","display_name":"Covenant University Repository (Covenant University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186771145","host_organization_name":"Covenant University","host_organization_lineage":["https://openalex.org/I186771145"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceedings"},{"id":"pmh:oai:generic.eprints.org:14346","is_oa":true,"landing_page_url":null,"pdf_url":"http://funes.uniandes.edu.co/14346/1/Raad2018La.pdf","source":{"id":"https://openalex.org/S4306400995","display_name":"Covenant University Repository (Covenant University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186771145","host_organization_name":"Covenant University","host_organization_lineage":["https://openalex.org/I186771145"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:generic.eprints.org:13226","is_oa":true,"landing_page_url":"http://publications.eng.cam.ac.uk/13226/","pdf_url":"http://eprints.covenantuniversity.edu.ng/13226/1/Oyekola.pdf","source":{"id":"https://openalex.org/S4306400995","display_name":"Covenant University Repository (Covenant University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186771145","host_organization_name":"Covenant University","host_organization_lineage":["https://openalex.org/I186771145"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3214947342.pdf","grobid_xml":"https://content.openalex.org/works/W3214947342.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1951808154","https://openalex.org/W2027032978","https://openalex.org/W2051556743","https://openalex.org/W2112783345","https://openalex.org/W2118741873","https://openalex.org/W2138367177","https://openalex.org/W2139353202","https://openalex.org/W2172072624","https://openalex.org/W2198850035","https://openalex.org/W2585810234","https://openalex.org/W2741390865","https://openalex.org/W2743040053","https://openalex.org/W2744937885","https://openalex.org/W2760735284","https://openalex.org/W2760930439","https://openalex.org/W2791182365","https://openalex.org/W2963945659","https://openalex.org/W3036693572","https://openalex.org/W3113323577","https://openalex.org/W3118735448","https://openalex.org/W3157241710","https://openalex.org/W3157274267","https://openalex.org/W3159782967","https://openalex.org/W3171656687","https://openalex.org/W6741755041"],"related_works":["https://openalex.org/W2883550785","https://openalex.org/W2890977713","https://openalex.org/W2123089778","https://openalex.org/W2899776278","https://openalex.org/W2116626317","https://openalex.org/W2327973185","https://openalex.org/W4387415646","https://openalex.org/W2153326975","https://openalex.org/W2063997568","https://openalex.org/W2487458155"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,12,49],"dynamic":[4],"n-link":[5],"revolute":[6],"robotic":[7,74],"arm":[8,75],"that":[9],"can":[10],"perform":[11],"sequence":[13],"of":[14,58,67],"tasks":[15],"and":[16,63],"navigate":[17],"via":[18],"hierarchal":[19],"landmarks":[20],"to":[21],"its":[22],"target.":[23],"The":[24,36],"stability":[25],"condition":[26],"with":[27],"multiple":[28,37],"Lyapunov":[29,38,53],"functions":[30,39],"for":[31,51],"switched":[32,59],"systems":[33],"is":[34],"considered.":[35],"are":[40,76],"formulated":[41],"from":[42],"the":[43,68],"Lyapunov-based":[44],"Control":[45],"Scheme":[46],"(LbCS)":[47],"as":[48],"tool":[50],"analyzing":[52],"stability.":[54],"A":[55],"new":[56],"set":[57],"nonlinear,":[60],"time-invariant,":[61],"continuous,":[62],"stabilizing":[64],"velocity":[65],"controllers":[66],"proposed":[69],"R":[70],"<sup":[71],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[72],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">n</sup>":[73],"developed.":[77]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":7}],"updated_date":"2026-05-28T09:10:13.091523","created_date":"2025-10-10T00:00:00"}
