{"id":"https://openalex.org/W2061090421","doi":"https://doi.org/10.1109/robot.2010.5509631","title":"Near-optimal autonomous pursuit evasion for nonholonomic wheeled mobile robot subject to wheel slip","display_name":"Near-optimal autonomous pursuit evasion for nonholonomic wheeled mobile robot subject to wheel slip","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2061090421","doi":"https://doi.org/10.1109/robot.2010.5509631","mag":"2061090421"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509631","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509631","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5078691765","display_name":"Yu Tian","orcid":"https://orcid.org/0000-0002-0463-0793"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu Tian","raw_affiliation_strings":["Vanderbilt University, Nashville, TN, USA","Vanderbilt University, Nashville,TN 37203, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt University, Nashville,TN 37203, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060782239","display_name":"Jadav Chandra Das","orcid":"https://orcid.org/0000-0001-5308-5077"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jadav Das","raw_affiliation_strings":["Vanderbilt University, Nashville, TN, USA","Vanderbilt University, Nashville,TN 37203, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt University, Nashville,TN 37203, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076622286","display_name":"Nilanjan Sarkar","orcid":"https://orcid.org/0000-0002-3969-0593"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nilanjan Sarkar","raw_affiliation_strings":["Vanderbilt University, Nashville, TN, USA","Vanderbilt University, Nashville,TN 37203, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"Vanderbilt University, Nashville,TN 37203, USA","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9167,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.91555571,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"5","issue":null,"first_page":"4946","last_page":"4951"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":0.9991000294685364,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9991000294685364,"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/T12158","display_name":"Guidance and Control Systems","score":0.9979000091552734,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9678999781608582,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pursuit-evasion","display_name":"Pursuit-evasion","score":0.8743008971214294},{"id":"https://openalex.org/keywords/pursuer","display_name":"Pursuer","score":0.8405603170394897},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7892369031906128},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.7247493267059326},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6882947087287903},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6798362731933594},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6645632982254028},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5980165004730225},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5434501767158508},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47436651587486267},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.4665125906467438},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.45557940006256104},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.422461599111557},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4106501340866089},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2640669345855713},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24169960618019104},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21665793657302856},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20840978622436523},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.19394555687904358},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.15120691061019897},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1171826422214508},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10528489947319031},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09579858183860779},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.0818408727645874}],"concepts":[{"id":"https://openalex.org/C2778388243","wikidata":"https://www.wikidata.org/wiki/Q7261573","display_name":"Pursuit-evasion","level":2,"score":0.8743008971214294},{"id":"https://openalex.org/C2776927521","wikidata":"https://www.wikidata.org/wiki/Q468489","display_name":"Pursuer","level":2,"score":0.8405603170394897},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7892369031906128},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.7247493267059326},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6882947087287903},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6798362731933594},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6645632982254028},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5980165004730225},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5434501767158508},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47436651587486267},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.4665125906467438},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.45557940006256104},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.422461599111557},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4106501340866089},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2640669345855713},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24169960618019104},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21665793657302856},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20840978622436523},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.19394555687904358},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.15120691061019897},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1171826422214508},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10528489947319031},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09579858183860779},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0818408727645874},{"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.2010.5509631","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509631","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320875","display_name":"Deutscher Akademischer Austauschdienst","ror":"https://ror.org/039djdh30"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W395489902","https://openalex.org/W1487127700","https://openalex.org/W1516289514","https://openalex.org/W1581842928","https://openalex.org/W1965633385","https://openalex.org/W1973113380","https://openalex.org/W1976698879","https://openalex.org/W1976905034","https://openalex.org/W2007629860","https://openalex.org/W2023153799","https://openalex.org/W2027758424","https://openalex.org/W2044119497","https://openalex.org/W2047107441","https://openalex.org/W2054908067","https://openalex.org/W2078403380","https://openalex.org/W2093110700","https://openalex.org/W2108284805","https://openalex.org/W2130635245","https://openalex.org/W2142476807","https://openalex.org/W2149069935","https://openalex.org/W2168089174","https://openalex.org/W2580211036","https://openalex.org/W6629040409","https://openalex.org/W6634751223","https://openalex.org/W6641578883","https://openalex.org/W6643646723"],"related_works":["https://openalex.org/W2011049453","https://openalex.org/W2115548344","https://openalex.org/W1999094585","https://openalex.org/W2171831092","https://openalex.org/W2103062170","https://openalex.org/W1554999458","https://openalex.org/W2061090421","https://openalex.org/W2084342786","https://openalex.org/W2555455137","https://openalex.org/W96081280"],"abstract_inverted_index":{"A":[0],"new":[1,60,96],"approach":[2,62],"to":[3,63,105],"autonomous":[4],"pursuit":[5,21,51,64],"evasion":[6,22,52,65],"by":[7,93],"a":[8,49,59,77,95,107],"wheeled":[9],"mobile":[10],"robot":[11],"in":[12,42,67],"the":[13,26,31,35,68,90,116],"presence":[14,69],"of":[15,34,70,118],"wheel":[16,71,85],"slip":[17,41],"is":[18],"presented.":[19],"Classical":[20],"problem,":[23,29],"such":[24],"as":[25],"Homicidal":[27],"Chauffeur":[28],"considers":[30],"kinematic":[32],"model":[33],"pursuer":[36],"and":[37,45],"does":[38],"not":[39],"consider":[40],"its":[43],"trajectory,":[44],"thus":[46],"cannot":[47],"predict":[48],"realistic":[50],"scenario.":[53],"In":[54],"this":[55],"work":[56],"we":[57],"present":[58],"dynamics-based":[61],"problem":[66],"slip.":[72,86],"We":[73,87],"first":[74],"show":[75,115],"how":[76],"feedback":[78],"linearization":[79],"controller":[80,99],"can":[81],"achieve":[82],"capture":[83,91],"with":[84],"then":[88],"improve":[89],"time":[92],"designing":[94],"extremum":[97],"seeking":[98],"that":[100],"maximizes":[101],"lateral":[102],"traction":[103],"force":[104],"effect":[106],"sharper":[108],"but":[109],"stable":[110],"turn.":[111],"The":[112],"simulation":[113],"results":[114],"efficacy":[117],"our":[119],"proposed":[120],"control":[121],"approach.":[122]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
