{"id":"https://openalex.org/W1519987888","doi":"https://doi.org/10.1109/robot.2003.1241566","title":"A neural network based torque controller for collision-free navigation of mobile robots","display_name":"A neural network based torque controller for collision-free navigation of mobile robots","publication_year":2004,"publication_date":"2004-03-01","ids":{"openalex":"https://openalex.org/W1519987888","doi":"https://doi.org/10.1109/robot.2003.1241566","mag":"1519987888"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1241566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5029827598","display_name":"Simon X. Yang","orcid":"https://orcid.org/0000-0002-6888-7993"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"S.X. Yang","raw_affiliation_strings":["School of Engineering, University of Guelph, Guelph, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Guelph, Guelph, ON, Canada","institution_ids":["https://openalex.org/I79817857"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014227067","display_name":"Tiemin Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Tiemin Hu","raw_affiliation_strings":["School of Engineering, University of Guelph, Guelph, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Guelph, Guelph, ON, Canada","institution_ids":["https://openalex.org/I79817857"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101168553","display_name":"Xiaobu Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I74413500","display_name":"University of Windsor","ror":"https://ror.org/01gw3d370","country_code":"CA","type":"education","lineage":["https://openalex.org/I74413500"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Xiaobu Yuan","raw_affiliation_strings":["School of Computer Science, University of Windsor, Windsor, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Windsor, Windsor, ON, Canada","institution_ids":["https://openalex.org/I74413500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100659849","display_name":"Peter Liu","orcid":"https://orcid.org/0000-0002-8703-6967"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"P.X. Liu","raw_affiliation_strings":["Dept. of Systems and Computer Engineering, Carleton University, Ottawa, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Systems and Computer Engineering, Carleton University, Ottawa, ON, Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Max Meng","raw_affiliation_strings":["Dept. of Electronic Engineering, Chinese University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electronic Engineering, Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2378,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.37538077,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"13","last_page":"18"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991999864578247,"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":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7622891664505005},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6325513124465942},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.584531307220459},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5821363925933838},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5720582008361816},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5681474208831787},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5547488927841187},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5503659248352051},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5013124942779541},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4416038691997528},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.4394938349723816},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43275949358940125},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4179466962814331},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3237399458885193},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29436156153678894},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16538512706756592},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.0833059549331665}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7622891664505005},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6325513124465942},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.584531307220459},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5821363925933838},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5720582008361816},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5681474208831787},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5547488927841187},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5503659248352051},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5013124942779541},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4416038691997528},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.4394938349723816},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43275949358940125},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4179466962814331},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3237399458885193},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29436156153678894},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16538512706756592},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0833059549331665},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2003.1241566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","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":11,"referenced_works":["https://openalex.org/W1967016046","https://openalex.org/W1967468731","https://openalex.org/W1971998222","https://openalex.org/W2097476511","https://openalex.org/W2103120971","https://openalex.org/W2110144538","https://openalex.org/W2162726844","https://openalex.org/W2163650400","https://openalex.org/W2313274380","https://openalex.org/W3159007338","https://openalex.org/W4241466952"],"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/W2779381274","https://openalex.org/W2534107666","https://openalex.org/W2117933783","https://openalex.org/W2560479139"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,70,90],"neural":[4,73,109],"network":[5,74],"based":[6,31],"torque":[7,20,68],"controller":[8,116],"is":[9,25,75,87,101,117],"proposed":[10,115],"for":[11],"real-time":[12,95],"collision-free":[13],"navigation":[14],"of":[15,98,107,113],"nonholonomic":[16],"mobile":[17,99],"robots.":[18],"A":[19,67],"resulted":[21],"from":[22,43,57,69],"the":[23,28,33,40,44,50,79,104,108,114],"obstacles":[24,45],"incorporated":[26],"in":[27,122],"control":[29,97],"design":[30],"on":[32],"artificial":[34],"potential":[35],"technique,":[36],"which":[37],"locally":[38],"pushes":[39],"robot":[41,59,82],"away":[42],"to":[46,77],"avoid":[47],"collisions.":[48],"All":[49],"needed":[51],"environment":[52],"information":[53],"can":[54],"be":[55],"obtained":[56],"on-board":[58],"sensors":[60],"that":[61],"have":[62],"limited":[63],"visibility":[64],"range":[65],"only.":[66],"simply":[71],"single-layer":[72],"employed":[76],"learn":[78],"completely":[80],"unknown":[81],"dynamics.":[83],"The":[84,94,111],"system":[85],"stability":[86,92],"guaranteed":[88],"by":[89,119],"Lyapunov":[91],"theory.":[93],"fine":[96],"robots":[100],"achieved":[102],"through":[103],"on-line":[105],"learning":[106],"network.":[110],"effectiveness":[112],"demonstrated":[118],"simulation":[120],"studies":[121],"both":[123],"static":[124],"and":[125],"dynamic":[126],"environments.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
