{"id":"https://openalex.org/W2127246949","doi":"https://doi.org/10.1109/robot.2008.4543464","title":"Potential function control for multiple high-speed nonholonomic robots","display_name":"Potential function control for multiple high-speed nonholonomic robots","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2127246949","doi":"https://doi.org/10.1109/robot.2008.4543464","mag":"2127246949"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543464","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543464","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 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/A5006220627","display_name":"Luke M. Wachter","orcid":null},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luke Wachter","raw_affiliation_strings":["Thayer School of Engineering, Dartmouth College, USA","[Thayer Sch. of Eng., Dartmouth Coll., Hanover, NH]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Thayer School of Engineering, Dartmouth College, USA","institution_ids":["https://openalex.org/I107672454"]},{"raw_affiliation_string":"[Thayer Sch. of Eng., Dartmouth Coll., Hanover, NH]","institution_ids":["https://openalex.org/I107672454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080780802","display_name":"John P. Murphy","orcid":"https://orcid.org/0000-0002-9317-3378"},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Murphy","raw_affiliation_strings":["Thayer School of Engineering, Dartmouth College, USA","[Thayer Sch. of Eng., Dartmouth Coll., Hanover, NH]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Thayer School of Engineering, Dartmouth College, USA","institution_ids":["https://openalex.org/I107672454"]},{"raw_affiliation_string":"[Thayer Sch. of Eng., Dartmouth Coll., Hanover, NH]","institution_ids":["https://openalex.org/I107672454"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000034078","display_name":"Laura Ray","orcid":"https://orcid.org/0000-0001-7769-2373"},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Laura Ray","raw_affiliation_strings":["Thayer School of Engineering, Dartmouth College, NH, USA","[Thayer Sch. of Eng., Dartmouth Coll., Hanover, NH]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Thayer School of Engineering, Dartmouth College, NH, USA","institution_ids":["https://openalex.org/I107672454"]},{"raw_affiliation_string":"[Thayer Sch. of Eng., Dartmouth Coll., Hanover, NH]","institution_ids":["https://openalex.org/I107672454"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I107672454"],"apc_list":null,"apc_paid":null,"fwci":1.907,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.87929356,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1781","last_page":"1782"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/holonomic","display_name":"Holonomic","score":0.7761361598968506},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.707694411277771},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6649218201637268},{"id":"https://openalex.org/keywords/double-integrator","display_name":"Double integrator","score":0.5870028734207153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5414441227912903},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5365960597991943},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4517894387245178},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43854379653930664},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23869365453720093},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.20741736888885498},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19070282578468323},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18086639046669006}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.7761361598968506},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.707694411277771},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6649218201637268},{"id":"https://openalex.org/C2779323837","wikidata":"https://www.wikidata.org/wiki/Q5300045","display_name":"Double integrator","level":3,"score":0.5870028734207153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5414441227912903},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5365960597991943},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4517894387245178},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43854379653930664},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23869365453720093},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.20741736888885498},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19070282578468323},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18086639046669006}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2008.4543464","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543464","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","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":10,"referenced_works":["https://openalex.org/W1533117844","https://openalex.org/W1969946745","https://openalex.org/W2059031134","https://openalex.org/W2107396783","https://openalex.org/W2113286054","https://openalex.org/W2130647945","https://openalex.org/W2139369541","https://openalex.org/W2168904841","https://openalex.org/W3031117914","https://openalex.org/W6631817498"],"related_works":["https://openalex.org/W2042038080","https://openalex.org/W4249701897","https://openalex.org/W2107308837","https://openalex.org/W71119328","https://openalex.org/W360452402","https://openalex.org/W2147558862","https://openalex.org/W2154502479","https://openalex.org/W2032711426","https://openalex.org/W4378942199","https://openalex.org/W4247004153"],"abstract_inverted_index":{"Many":[0],"approaches":[1],"to":[2,94,150,157,173,202],"the":[3,21,28,48,51,74,92,168,185],"formation":[4,43,61,75,93],"control":[5,37,106],"problem":[6],"for":[7,80,88,103,107,128,144,177],"multi-robot":[8],"systems":[9],"have":[10,147],"been":[11,148],"proposed.":[12],"In":[13],"distributed":[14],"consensus":[15],"algorithm":[16],"methods,":[17,123],"and":[18,96,100,129,205],"leader-follower":[19],"structures":[20],"robots":[22,49,132,146,151,195],"are":[23,125],"explicitly":[24,44],"assigned":[25],"positions":[26],"within":[27],"desired":[29],"formation.":[30],"By":[31],"contrast,":[32],"artificial":[33],"potential":[34,56],"function":[35],"(APF)":[36],"generally":[38,126],"does":[39],"not":[40],"specify":[41],"a":[42,55,60,64,81,117,158,188],"but":[45],"rather":[46],"drives":[47],"down":[50],"negative":[52],"gradient":[53],"of":[54,73,83,91,98,170,190,199,207],"field":[57],"such":[58],"that":[59,133],"emerges":[62],"at":[63,162,208],"global":[65],"or":[66,113,156],"local":[67],"minimum.":[68],"The":[69],"ad":[70],"hoc":[71],"emergence":[72],"has":[76],"several":[77],"benefits,":[78],"especially":[79],"fleet":[82,189],"homogeneous":[84,105],"vehicles:":[85],"It":[86],"allows":[87,102],"spontaneous":[89],"adaptation":[90],"addition":[95],"removal":[97],"vehicles,":[99],"it":[101],"truly":[104],"each":[108],"agent":[109],"since":[110],"no":[111],"hierarchy":[112],"unique":[114],"assignment":[115],"in":[116],"constraint":[118],"graph":[119],"is":[120],"needed.":[121],"APF":[122,141,175],"however,":[124],"designed":[127,143],"tested":[130],"on":[131],"approximate":[134],"fully":[135],"holonomic":[136],"double":[137],"integrator":[138,154],"point":[139],"masses.":[140],"methods":[142,176],"nonholonomic":[145,180],"limited":[149],"with":[152],"single":[153,159],"dynamics":[155],"robot":[160],"traveling":[161],"low":[163],"speed.":[164],"This":[165,182],"video":[166],"presents":[167],"results":[169],"an":[171],"effort":[172],"adopt":[174],"high-speed,":[178],"dynamic,":[179],"robots.":[181],"paper":[183],"describes":[184],"experimental":[186],"testbed:":[187],"inexpensive":[191],"4-wheel":[192],"drive":[193],"skid-steered":[194],"called":[196],"Dynabots":[197],"capable":[198],"speeds":[200],"up":[201],"10":[203],"m/s":[204,211],"accelerations":[206],"least":[209],"4":[210],"<sup":[212],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[213],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[214],".":[215]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}