{"id":"https://openalex.org/W2162086728","doi":"https://doi.org/10.1109/robot.2009.5152432","title":"Visual homing for undulatory robotic locomotion","display_name":"Visual homing for undulatory robotic locomotion","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2162086728","doi":"https://doi.org/10.1109/robot.2009.5152432","mag":"2162086728"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152432","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5077412220","display_name":"Gonzalo L\u00f3pez\u2010Nicol\u00e1s","orcid":"https://orcid.org/0000-0001-9347-5969"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"G. Lopez-Nicolas","raw_affiliation_strings":["DIIS-I3A, Universidad de Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"DIIS-I3A, Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041355527","display_name":"Michael Sfakiotakis","orcid":"https://orcid.org/0000-0001-7723-193X"},"institutions":[{"id":"https://openalex.org/I28710699","display_name":"Hellenic Mediterranean University","ror":"https://ror.org/039ce0m20","country_code":"GR","type":"education","lineage":["https://openalex.org/I28710699"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"M. Sfakiotakis","raw_affiliation_strings":["Electrical Engineering Department, Technological Educational Institute of Crete, Greece"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, Technological Educational Institute of Crete, Greece","institution_ids":["https://openalex.org/I28710699"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048138738","display_name":"Dimitris P. Tsakiris","orcid":null},"institutions":[{"id":"https://openalex.org/I4210121775","display_name":"FORTH Institute of Computer Science","ror":"https://ror.org/02tf48g55","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210121775","https://openalex.org/I8901234"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"D. P. Tsakiris","raw_affiliation_strings":["ICS, FORTH, Heraklion, Crete, Greece"],"affiliations":[{"raw_affiliation_string":"ICS, FORTH, Heraklion, Crete, Greece","institution_ids":["https://openalex.org/I4210121775"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023467254","display_name":"Antonis Argyros","orcid":"https://orcid.org/0000-0001-8230-3192"},"institutions":[{"id":"https://openalex.org/I142617266","display_name":"University of Crete","ror":"https://ror.org/00dr28g20","country_code":"GR","type":"education","lineage":["https://openalex.org/I142617266"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"A. A. Argyros","raw_affiliation_strings":["Computer Science Department, University of Crete, Greece"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Crete, Greece","institution_ids":["https://openalex.org/I142617266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052842220","display_name":"Carlos Sag\u00fc\u00e9s","orcid":"https://orcid.org/0000-0002-3032-954X"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"C. Sagues","raw_affiliation_strings":["DIIS-I3A, Universidad de Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"DIIS-I3A, Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088447291","display_name":"J.J. Guerrero","orcid":"https://orcid.org/0000-0001-5209-2267"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J.J. Guerrero","raw_affiliation_strings":["DIIS-I3A, Universidad de Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"DIIS-I3A, Universidad de Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5077412220"],"corresponding_institution_ids":["https://openalex.org/I255234318"],"apc_list":null,"apc_paid":null,"fwci":0.3281,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.64870385,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"2629","last_page":"2636"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9781000018119812,"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/visual-servoing","display_name":"Visual servoing","score":0.8981728553771973},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.7593742609024048},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.6917660236358643},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6854812502861023},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.642704963684082},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6083325147628784},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5918363332748413},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5078049302101135},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.48567020893096924},{"id":"https://openalex.org/keywords/visual-control","display_name":"Visual control","score":0.45066842436790466},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4173489212989807},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35326629877090454},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.34016233682632446},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16901427507400513},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09304776787757874}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8981728553771973},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.7593742609024048},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.6917660236358643},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6854812502861023},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.642704963684082},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6083325147628784},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5918363332748413},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5078049302101135},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.48567020893096924},{"id":"https://openalex.org/C2780527621","wikidata":"https://www.wikidata.org/wiki/Q7936593","display_name":"Visual control","level":2,"score":0.45066842436790466},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4173489212989807},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35326629877090454},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.34016233682632446},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16901427507400513},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09304776787757874},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2009.5152432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152432","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.158.7834","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.158.7834","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ics.forth.gr/~argyros/mypapers/2009_05_icra_homing.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W108103840","https://openalex.org/W154232367","https://openalex.org/W198676126","https://openalex.org/W1424654272","https://openalex.org/W1487127700","https://openalex.org/W1556736826","https://openalex.org/W1573670163","https://openalex.org/W1595470521","https://openalex.org/W1595955542","https://openalex.org/W1602563405","https://openalex.org/W1887006513","https://openalex.org/W1927504425","https://openalex.org/W1943877163","https://openalex.org/W1966086223","https://openalex.org/W1976595761","https://openalex.org/W1993300073","https://openalex.org/W2010050675","https://openalex.org/W2019575952","https://openalex.org/W2033819227","https://openalex.org/W2044247650","https://openalex.org/W2066366702","https://openalex.org/W2068025676","https://openalex.org/W2082991751","https://openalex.org/W2085261163","https://openalex.org/W2098095796","https://openalex.org/W2100249329","https://openalex.org/W2108574718","https://openalex.org/W2108590711","https://openalex.org/W2109977670","https://openalex.org/W2112006186","https://openalex.org/W2114302218","https://openalex.org/W2126095117","https://openalex.org/W2137150948","https://openalex.org/W2144026911","https://openalex.org/W2148123561","https://openalex.org/W2150839555","https://openalex.org/W2151103935","https://openalex.org/W2151768004","https://openalex.org/W2160702330","https://openalex.org/W2161505441","https://openalex.org/W2166089289","https://openalex.org/W2167501464","https://openalex.org/W2168947801","https://openalex.org/W2209124607","https://openalex.org/W2611243847","https://openalex.org/W3152172710","https://openalex.org/W3160954918","https://openalex.org/W4252184929","https://openalex.org/W4292408540","https://openalex.org/W4292872153","https://openalex.org/W6635611660","https://openalex.org/W6640601728","https://openalex.org/W6643218092"],"related_works":["https://openalex.org/W1968898369","https://openalex.org/W4229980980","https://openalex.org/W1927504425","https://openalex.org/W3020931357","https://openalex.org/W4289298207","https://openalex.org/W2119312651","https://openalex.org/W2121156203","https://openalex.org/W1484422613","https://openalex.org/W1981926900","https://openalex.org/W2940957385"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,21,38,42,45,49,60,71,78],"problem":[4],"of":[5,44,59],"vision-based":[6],"closed-loop":[7],"control":[8,39,62],"for":[9],"undulatory":[10,80],"robots.":[11],"We":[12,54],"present":[13],"an":[14],"image-based":[15],"visual":[16],"servoing":[17],"scheme,":[18,63],"which":[19,64],"drives":[20],"robot":[22],"to":[23],"a":[24,29],"desired":[25],"location":[26],"specified":[27],"by":[28,67],"target":[30,52],"image,":[31],"without":[32],"explicitly":[33],"estimating":[34],"its":[35],"pose.":[36],"Instead,":[37],"relies":[40],"on":[41],"computation":[43],"epipolar":[46],"geometry":[47],"between":[48],"current":[50],"and":[51,57],"images.":[53],"analyze":[55],"controllability":[56],"stability":[58],"proposed":[61],"is":[65],"validated":[66],"simulation":[68],"studies":[69],"using":[70],"SIMUUN":[72],"computational":[73],"tools.":[74],"Preliminary":[75],"experiments,":[76],"involving":[77],"Nereisbot":[79],"robotic":[81],"prototype,":[82],"are":[83],"also":[84],"presented.":[85]},"counts_by_year":[{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
