{"id":"https://openalex.org/W2743310225","doi":"https://doi.org/10.1109/romoco.2017.8003907","title":"Motion control of a car-like vehicle with front driving wheels using an approximate decoupling based on the transverse function approach","display_name":"Motion control of a car-like vehicle with front driving wheels using an approximate decoupling based on the transverse function approach","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2743310225","doi":"https://doi.org/10.1109/romoco.2017.8003907","mag":"2743310225"},"language":"en","primary_location":{"id":"doi:10.1109/romoco.2017.8003907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2017.8003907","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 11th International Workshop on Robot Motion and Control (RoMoCo)","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/A5014048989","display_name":"Dariusz Pazderski","orcid":"https://orcid.org/0000-0002-8732-7350"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Dariusz Pazderski","raw_affiliation_strings":["Faculty of Computing, Pozna\u0144 University of Technology, Pozna\u0144, POLAND"],"affiliations":[{"raw_affiliation_string":"Faculty of Computing, Pozna\u0144 University of Technology, Pozna\u0144, POLAND","institution_ids":["https://openalex.org/I46597724"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101572184","display_name":"Krzysztof Koz\u0142owski","orcid":"https://orcid.org/0000-0002-6111-3215"},"institutions":[{"id":"https://openalex.org/I46597724","display_name":"Pozna\u0144 University of Technology","ror":"https://ror.org/00p7p3302","country_code":"PL","type":"education","lineage":["https://openalex.org/I46597724"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Krzysztof Kozlowski","raw_affiliation_strings":["Faculty of Computing, Pozna\u0144 University of Technology, Pozna\u0144, POLAND"],"affiliations":[{"raw_affiliation_string":"Faculty of Computing, Pozna\u0144 University of Technology, Pozna\u0144, POLAND","institution_ids":["https://openalex.org/I46597724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5014048989"],"corresponding_institution_ids":["https://openalex.org/I46597724"],"apc_list":null,"apc_paid":null,"fwci":0.8046,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.73867473,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"33","issue":null,"first_page":"154","last_page":"159"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9958000183105469,"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/kinematics","display_name":"Kinematics","score":0.7430365085601807},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6665383577346802},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.6497129797935486},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5828717947006226},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5331501364707947},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4967089295387268},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47046956419944763},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3745918273925781},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36979568004608154},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.349279522895813},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.308113157749176},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2368316948413849},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1654624044895172},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15839695930480957},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10577401518821716}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7430365085601807},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6665383577346802},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.6497129797935486},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5828717947006226},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5331501364707947},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4967089295387268},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47046956419944763},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3745918273925781},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36979568004608154},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.349279522895813},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.308113157749176},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2368316948413849},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1654624044895172},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15839695930480957},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10577401518821716},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/romoco.2017.8003907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2017.8003907","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 11th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1520758577","https://openalex.org/W1576679893","https://openalex.org/W1599718301","https://openalex.org/W1946727535","https://openalex.org/W1965016794","https://openalex.org/W2000359213","https://openalex.org/W2006197264","https://openalex.org/W2010704362","https://openalex.org/W2076829493","https://openalex.org/W2100585221","https://openalex.org/W2111369225","https://openalex.org/W2112248762","https://openalex.org/W2114484121","https://openalex.org/W2122513851","https://openalex.org/W2134966857","https://openalex.org/W2143810732","https://openalex.org/W2149012351","https://openalex.org/W2175643442","https://openalex.org/W2212829691","https://openalex.org/W2216353268","https://openalex.org/W2261722958","https://openalex.org/W2469993226","https://openalex.org/W2566831698"],"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/W2020829486","https://openalex.org/W2016451691","https://openalex.org/W2979398413","https://openalex.org/W1532677580"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,20,46,64,89],"focused":[3],"on":[4,22],"motion":[5,99],"control":[6,18,56,87],"of":[7,15,26,71,85,93],"a":[8,51],"nonholonomic":[9],"car-like":[10],"robot.":[11,35],"The":[12,82],"main":[13],"idea":[14],"the":[16,40,43,59,86],"proposed":[17],"method":[19,88],"based":[21],"an":[23,33,79],"approximate":[24],"decoupling":[25],"phase-constrained":[27],"kinematics":[28,45],"in":[29],"order":[30,37],"to":[31,38],"imitate":[32],"omnidirectional":[34],"In":[36],"facilitate":[39],"feedback":[41],"design,":[42],"original":[44],"simplified":[47],"and":[48],"represented":[49],"by":[50,78,91],"nilpotent":[52],"homogeneous":[53],"locally":[54,68],"equivalent":[55],"system.":[57],"Next,":[58],"algorithm":[60],"exploiting":[61],"transverse":[62],"functions":[63],"formulated.":[65],"It":[66],"guarantees":[67],"stable":[69],"tracking":[70],"any":[72],"trajectory":[73],"which":[74],"can":[75],"be":[76],"generated":[77],"external":[80],"navigator.":[81],"theoretical":[83],"description":[84],"complemented":[90],"results":[92],"numerical":[94],"simulations":[95],"conducted":[96],"for":[97],"specific":[98],"scenarios.":[100]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
