{"id":"https://openalex.org/W4402510850","doi":"https://doi.org/10.1109/rcar61438.2024.10671326","title":"Model Predictive Contouring Control for Four-Wheel Independent Steering and Driving Mobile Robots","display_name":"Model Predictive Contouring Control for Four-Wheel Independent Steering and Driving Mobile Robots","publication_year":2024,"publication_date":"2024-06-24","ids":{"openalex":"https://openalex.org/W4402510850","doi":"https://doi.org/10.1109/rcar61438.2024.10671326"},"language":"en","primary_location":{"id":"doi:10.1109/rcar61438.2024.10671326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar61438.2024.10671326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5026173109","display_name":"Eugene Auh","orcid":"https://orcid.org/0000-0001-9349-5046"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Eugene Auh","raw_affiliation_strings":["Sungkyunkwan University,Department of Mechanical Engineering,Suwon,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Sungkyunkwan University,Department of Mechanical Engineering,Suwon,Republic of Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038476572","display_name":"Hong-ryul Jung","orcid":"https://orcid.org/0000-0002-2046-4983"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hongryul Jung","raw_affiliation_strings":["Sungkyunkwan University,Department of Mechanical Engineering,Suwon,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Sungkyunkwan University,Department of Mechanical Engineering,Suwon,Republic of Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079922914","display_name":"Nabih Pico","orcid":"https://orcid.org/0000-0003-3516-0461"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Nabih Pico","raw_affiliation_strings":["Sungkyunkwan University,Department of Mechanical Engineering,Suwon,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Sungkyunkwan University,Department of Mechanical Engineering,Suwon,Republic of Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113381403","display_name":"Hyoukryeol Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyoukryeol Choi","raw_affiliation_strings":["Sungkyunkwan University,Department of Mechanical Engineering,Suwon,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Sungkyunkwan University,Department of Mechanical Engineering,Suwon,Republic of Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044372267","display_name":"Ja Choon Koo","orcid":"https://orcid.org/0000-0003-0960-1307"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jachoon Koo","raw_affiliation_strings":["Sungkyunkwan University,Department of Mechanical Engineering,Suwon,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Sungkyunkwan University,Department of Mechanical Engineering,Suwon,Republic of Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111587390","display_name":"Hyungpil Moon","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyungpil Moon","raw_affiliation_strings":["Sungkyunkwan University,Department of Mechanical Engineering,Suwon,Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Sungkyunkwan University,Department of Mechanical Engineering,Suwon,Republic of Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5026173109"],"corresponding_institution_ids":["https://openalex.org/I848706"],"apc_list":null,"apc_paid":null,"fwci":0.8174,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.71356824,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"259","last_page":"264"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9605000019073486,"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":0.9605000019073486,"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/T13717","display_name":"Advanced Algorithms and Applications","score":0.9448999762535095,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9409999847412109,"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/contouring","display_name":"Contouring","score":0.8067647814750671},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7692619562149048},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6130555868148804},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6086299419403076},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5734246373176575},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47002172470092773},{"id":"https://openalex.org/keywords/steering-wheel","display_name":"Steering wheel","score":0.4179631471633911},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2920466661453247},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2529815435409546},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.229184091091156},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.0814828872680664}],"concepts":[{"id":"https://openalex.org/C2779104521","wikidata":"https://www.wikidata.org/wiki/Q23058469","display_name":"Contouring","level":2,"score":0.8067647814750671},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7692619562149048},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6130555868148804},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6086299419403076},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5734246373176575},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47002172470092773},{"id":"https://openalex.org/C2780354894","wikidata":"https://www.wikidata.org/wiki/Q679300","display_name":"Steering wheel","level":2,"score":0.4179631471633911},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2920466661453247},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2529815435409546},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.229184091091156},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0814828872680664}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar61438.2024.10671326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar61438.2024.10671326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1578293866","https://openalex.org/W1969483458","https://openalex.org/W1977164425","https://openalex.org/W1990912264","https://openalex.org/W2045140613","https://openalex.org/W2094247195","https://openalex.org/W2113256452","https://openalex.org/W2158055488","https://openalex.org/W2162991084","https://openalex.org/W2482392012","https://openalex.org/W2963105220","https://openalex.org/W3047366950","https://openalex.org/W3163101257","https://openalex.org/W3173494724","https://openalex.org/W3213029855","https://openalex.org/W4221058639","https://openalex.org/W4280571816","https://openalex.org/W4285163488","https://openalex.org/W4294839230","https://openalex.org/W4383109350","https://openalex.org/W6600413971","https://openalex.org/W6800004206"],"related_works":["https://openalex.org/W2028761375","https://openalex.org/W2915337797","https://openalex.org/W2360204191","https://openalex.org/W2044363672","https://openalex.org/W2073091389","https://openalex.org/W2968335000","https://openalex.org/W2045558343","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2735382216"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,141],"introduce":[4],"the":[5,14,37,41,60,79,89,113,117,138,147,152,160,168,176,181],"model":[6,70,115,145],"predictive":[7,71],"contouring":[8,72],"control":[9,173],"(MPCC)":[10],"method":[11,24],"tailored":[12],"for":[13,97,179],"four-wheel":[15],"independent":[16,30],"steering":[17,31,107],"and":[18,32,35,82,108,121,130,133,158,184],"driving":[19,33,109],"(4WIS-4WID)":[20],"mobile":[21,61,80,99,119,149],"robots.":[22],"This":[23],"effectively":[25],"controls":[26],"four":[27],"sets":[28],"of":[29,40,59,78,91,116,128,146],"actuators":[34],"enables":[36,74],"holonomic":[38],"movement":[39],"main":[42],"body.":[43],"Unlike":[44],"most":[45],"previous":[46],"studies":[47],"that":[48,167],"primarily":[49],"rely":[50],"on":[51,151],"kinematics,":[52],"our":[53,95],"approach":[54],"facilitates":[55],"seamless":[56,75],"velocity":[57,76],"changes":[58,77],"robot,":[62],"enhancing":[63],"its":[64],"efficiency":[65],"in":[66],"navigation":[67,85],"tasks.":[68],"The":[69,164],"controller":[73,170],"robot":[81,120,150],"an":[83],"efficient":[84],"task.":[86],"To":[87,136],"address":[88],"limitations":[90],"traditional":[92],"kinematics-based":[93],"approaches,":[94],"MPCC":[96],"4WIS-4WID":[98,118,148],"robots":[100],"minimizes":[101],"tracking":[102,162,180],"errors":[103],"while":[104],"simultaneously":[105],"controlling":[106],"actuators.":[110],"We":[111],"establish":[112],"dynamic":[114],"formulate":[122],"a":[123,143],"cost":[124],"optimization":[125],"problem":[126],"consisting":[127],"slip":[129],"contouring,":[131],"lag,":[132],"heading":[134],"errors.":[135],"validate":[137],"proposed":[139],"controller,":[140],"construct":[142],"simulation":[144],"NVIDIA":[153],"Isaac":[154],"Sim":[155],"robotic":[156],"simulator":[157],"perform":[159],"trajectory":[161],"experiment.":[163],"results":[165],"demonstrate":[166],"developed":[169],"successfully":[171],"provides":[172],"commands":[174],"to":[175],"individual":[177],"wheels":[178],"reference":[182],"position":[183],"orientation":[185],"trajectories":[186],"simultaneously.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
