{"id":"https://openalex.org/W2125623783","doi":"https://doi.org/10.1109/robot.2005.1570680","title":"Bounded Smooth Time Invariant Motion Control of Unicycle Kinematic Models","display_name":"Bounded Smooth Time Invariant Motion Control of Unicycle Kinematic Models","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2125623783","doi":"https://doi.org/10.1109/robot.2005.1570680","mag":"2125623783"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5041621696","display_name":"Youngshik Kim","orcid":"https://orcid.org/0000-0003-0869-576X"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Youngshik Kim","raw_affiliation_strings":["Department of Mechanical Engineering, University of Utah, Salt Lake, UT, USA","Department of Mechanical Engineering University of Utah Salt Lake City, UT 84112, USA; youngshik.kim@utah.edu"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Utah, Salt Lake, UT, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"Department of Mechanical Engineering University of Utah Salt Lake City, UT 84112, USA; youngshik.kim@utah.edu","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067441596","display_name":"Mark A. Minor","orcid":"https://orcid.org/0000-0003-1736-2908"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M.A. Minor","raw_affiliation_strings":["Department of Mechanical Engineering, University of Utah, Salt Lake, UT, USA","youngshik.kim@utah.edu"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Utah, Salt Lake, UT, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"youngshik.kim@utah.edu","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5041621696"],"corresponding_institution_ids":["https://openalex.org/I223532165"],"apc_list":null,"apc_paid":null,"fwci":3.6387,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.92894643,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"8","issue":null,"first_page":"3676","last_page":"3681"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":1.0,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9990000128746033,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7802989482879639},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6843643188476562},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6486441493034363},{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.5090272426605225},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5039133429527283},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49744680523872375},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4573823809623718},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.44198018312454224},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41559725999832153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4114239811897278},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3238224387168884},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22003522515296936},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.18616756796836853},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16677701473236084},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.16524645686149597},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11971059441566467},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10485222935676575}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7802989482879639},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6843643188476562},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6486441493034363},{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.5090272426605225},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5039133429527283},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49744680523872375},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4573823809623718},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.44198018312454224},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41559725999832153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4114239811897278},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3238224387168884},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22003522515296936},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.18616756796836853},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16677701473236084},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.16524645686149597},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11971059441566467},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10485222935676575},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1486149080","https://openalex.org/W1542776304","https://openalex.org/W1574639858","https://openalex.org/W1961666289","https://openalex.org/W1971044547","https://openalex.org/W1983764986","https://openalex.org/W2114916843","https://openalex.org/W2127545292","https://openalex.org/W2127988032","https://openalex.org/W2129496494","https://openalex.org/W2146877952","https://openalex.org/W2158742422","https://openalex.org/W2169082695","https://openalex.org/W2317340156","https://openalex.org/W2631206257","https://openalex.org/W3021736405"],"related_works":["https://openalex.org/W3032985159","https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2170322441","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2005471069"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,54],"new":[4],"curvature":[5,89],"based":[6],"smooth":[7],"time":[8],"invariant":[9],"control":[10,18,25,97],"law":[11,26],"for":[12,32,41,106],"posture":[13,33],"regulation":[14,34],"and":[15,39,85,90,110,113],"path":[16,42],"following":[17,43],"of":[19],"unicycle":[20,73],"type":[21],"kinematic":[22,74],"models.":[23],"The":[24,48,99],"is":[27,50,101],"developed":[28],"in":[29],"polar":[30],"coordinates":[31],"using":[35],"nonlinear":[36],"Lyapunov":[37],"techniques":[38],"extended":[40,103],"via":[44],"waypoint":[45],"navigation":[46],"techniques.":[47],"algorithm":[49,117],"then":[51,102],"applied":[52],"to":[53,70,104],"two-axle":[55],"compliant":[56],"framed":[57],"modular":[58],"mobile":[59],"robot.":[60],"To":[61],"this":[62],"goal":[63],"the":[64],"complex":[65],"robot":[66],"kinematics":[67],"are":[68,93],"reduced":[69],"an":[71],"equivalent":[72],"model":[75],"where":[76],"we":[77],"must":[78],"consider":[79],"physical":[80],"constraints":[81],"on":[82],"wheel":[83],"velocity":[84,91],"frame":[86],"curvature.":[87],"Bounded":[88],"expressions":[92],"thus":[94],"derived":[95],"as":[96],"inputs.":[98],"controller":[100],"compensate":[105],"non-ideal":[107],"initial":[108],"conditions":[109],"drift.":[111],"Simulation":[112],"experimental":[114],"results":[115],"evaluate":[116],"performance.":[118]},"counts_by_year":[{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}