{"id":"https://openalex.org/W1981727740","doi":"https://doi.org/10.1109/robio.2014.7090391","title":"A study of Nonlinear Model Predictive Control (NMPC) for snake robot path following","display_name":"A study of Nonlinear Model Predictive Control (NMPC) for snake robot path following","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W1981727740","doi":"https://doi.org/10.1109/robio.2014.7090391","mag":"1981727740"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090391","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090391","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","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/A5006335697","display_name":"Giancarlo Marafioti","orcid":"https://orcid.org/0000-0002-7932-7633"},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"Giancarlo Marafioti","raw_affiliation_strings":["Dept. of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","Dept. of Applied Cybernetics, SINTEF ICT, N-7465 Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Dept. of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]},{"raw_affiliation_string":"Dept. of Applied Cybernetics, SINTEF ICT, N-7465 Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029922227","display_name":"P\u00e5l Liljeb\u00e4ck","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105718","display_name":"Trondheim Kommune","ror":"https://ror.org/01gjtys23","country_code":"NO","type":"government","lineage":["https://openalex.org/I4210105718"]},{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Pal Liljeback","raw_affiliation_strings":["Norges teknisk-naturvitenskapelige universitet, Trondheim, NO","Dept. of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), N-7491 Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Norges teknisk-naturvitenskapelige universitet, Trondheim, NO","institution_ids":["https://openalex.org/I4210105718"]},{"raw_affiliation_string":"Dept. of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), N-7491 Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073872424","display_name":"Aksel A. Transeth","orcid":"https://orcid.org/0009-0007-9440-8515"},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Aksel Andreas Transeth","raw_affiliation_strings":["Dept. of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","Dept. of Applied Cybernetics, SINTEF ICT, N-7465 Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Dept. of Applied Cybernetics, SINTEF ICT, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]},{"raw_affiliation_string":"Dept. of Applied Cybernetics, SINTEF ICT, N-7465 Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006335697"],"corresponding_institution_ids":["https://openalex.org/I173888879"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.06937266,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"568","last_page":"573"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.993399977684021,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.993399977684021,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9908000230789185,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9868999719619751,"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/model-predictive-control","display_name":"Model predictive control","score":0.8979976177215576},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.7049627304077148},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6883957982063293},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6631501913070679},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6045516729354858},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.576971709728241},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5377206206321716},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5302550196647644},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5277246236801147},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5016543865203857},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4244385361671448},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27716678380966187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19797149300575256},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.04654085636138916}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8979976177215576},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.7049627304077148},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6883957982063293},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6631501913070679},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6045516729354858},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.576971709728241},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5377206206321716},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5302550196647644},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5277246236801147},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5016543865203857},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4244385361671448},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27716678380966187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19797149300575256},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.04654085636138916},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2014.7090391","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090391","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W81137451","https://openalex.org/W98734704","https://openalex.org/W160881533","https://openalex.org/W1508545910","https://openalex.org/W1573670163","https://openalex.org/W1977164425","https://openalex.org/W2005976570","https://openalex.org/W2073787051","https://openalex.org/W2100972151","https://openalex.org/W2101188133","https://openalex.org/W2106130932","https://openalex.org/W2106222102","https://openalex.org/W2126621973","https://openalex.org/W2128524243","https://openalex.org/W2130643695","https://openalex.org/W2130712056","https://openalex.org/W2134673975","https://openalex.org/W2140195010","https://openalex.org/W2324721539","https://openalex.org/W2607928667","https://openalex.org/W4230022293","https://openalex.org/W4285719527","https://openalex.org/W6603433805","https://openalex.org/W6675176172","https://openalex.org/W6679847798","https://openalex.org/W6680645522"],"related_works":["https://openalex.org/W1631623342","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W1779399219","https://openalex.org/W648378158","https://openalex.org/W3138952546","https://openalex.org/W3083517787","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583"],"abstract_inverted_index":{"This":[0],"paper":[1,54],"considers":[2],"Nonlinear":[3],"Model":[4],"Predictive":[5],"Control":[6],"(NMPC)":[7],"in":[8],"the":[9,23,60,63],"context":[10],"of":[11,25,50,62,73],"snake":[12,51,80],"robot":[13],"locomotion.":[14],"NMPC":[15,39,74],"is":[16],"an":[17],"optimal":[18],"control":[19,49,65,77],"technique":[20],"that":[21],"offers":[22],"ability":[24],"handling":[26],"constraints":[27],"although":[28],"requiring":[29],"relatively":[30],"significant":[31],"computational":[32],"resources.":[33],"In":[34],"detail,":[35],"we":[36,68],"show":[37],"how":[38],"can":[40],"be":[41],"applied":[42],"to":[43],"achieve":[44],"straight":[45],"line":[46],"path":[47],"following":[48],"robots.":[52,81],"The":[53],"presents":[55],"simulation":[56],"results":[57],"which":[58],"illustrate":[59],"performance":[61],"proposed":[64],"approach.":[66],"Moreover,":[67],"discuss":[69],"advantages":[70],"and":[71],"disadvantages":[72],"as":[75],"a":[76],"approach":[78],"for":[79]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}