{"id":"https://openalex.org/W2772726705","doi":"https://doi.org/10.1109/sbr-lars-r.2017.8215270","title":"Stability analysis for mobile robots with different time-scales based on unsupervised competitive neural networks","display_name":"Stability analysis for mobile robots with different time-scales based on unsupervised competitive neural networks","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2772726705","doi":"https://doi.org/10.1109/sbr-lars-r.2017.8215270","mag":"2772726705"},"language":"en","primary_location":{"id":"doi:10.1109/sbr-lars-r.2017.8215270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr-lars-r.2017.8215270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","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":null,"display_name":"C. A. Pe\u00f1a Fern\u00e1ndez","orcid":null},"institutions":[{"id":"https://openalex.org/I130913789","display_name":"Instituto Federal da Bahia","ror":"https://ror.org/01tzdej37","country_code":"BR","type":"education","lineage":["https://openalex.org/I130913789"]},{"id":"https://openalex.org/I4210131479","display_name":"Electrotechnical Institute","ror":"https://ror.org/03f5avr03","country_code":"PL","type":"facility","lineage":["https://openalex.org/I4210131479"]}],"countries":["BR","PL"],"is_corresponding":true,"raw_author_name":"C. A. Pe\u00f1a Fern\u00e1ndez","raw_affiliation_strings":["Automation Laboratory - Electrotechnical Department, \nFederal Institute of Bahia,\n Feira de Santana, Brasil","Automation Laboratory - Electrotechnical Department, Federal Institute of Bahia, Feira de Santana, Brasil"],"affiliations":[{"raw_affiliation_string":"Automation Laboratory - Electrotechnical Department, \nFederal Institute of Bahia,\n Feira de Santana, Brasil","institution_ids":["https://openalex.org/I4210131479","https://openalex.org/I130913789"]},{"raw_affiliation_string":"Automation Laboratory - Electrotechnical Department, Federal Institute of Bahia, Feira de Santana, Brasil","institution_ids":["https://openalex.org/I130913789"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066909059","display_name":"J\u00e9s de Jesus Fiais Cerqueira","orcid":"https://orcid.org/0000-0003-4072-0101"},"institutions":[{"id":"https://openalex.org/I126158947","display_name":"Universidade Federal da Bahia","ror":"https://ror.org/03k3p7647","country_code":"BR","type":"education","lineage":["https://openalex.org/I126158947"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"J. J. F. Cerqueira","raw_affiliation_strings":["Robotics Laboratory - Department of Electrical Engineering, Federal University of Bahia, Rua Aristides Novis, 02, Federa&#x00B8;c&#x00E3;o, Salvador, Brasil","Department of Electrical Engineering, Federal University of Bahia, Federa\u00e7\u00e3o, Salvador, Brasil"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory - Department of Electrical Engineering, Federal University of Bahia, Rua Aristides Novis, 02, Federa&#x00B8;c&#x00E3;o, Salvador, Brasil","institution_ids":["https://openalex.org/I126158947"]},{"raw_affiliation_string":"Department of Electrical Engineering, Federal University of Bahia, Federa\u00e7\u00e3o, Salvador, Brasil","institution_ids":["https://openalex.org/I126158947"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130913789","https://openalex.org/I4210131479"],"apc_list":null,"apc_paid":null,"fwci":0.6116,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.71388136,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9936000108718872,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9936000108718872,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9926999807357788,"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/T10581","display_name":"Neural dynamics and brain function","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/unsupervised-learning","display_name":"Unsupervised learning","score":0.7259190678596497},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.677826464176178},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6656786203384399},{"id":"https://openalex.org/keywords/competitive-learning","display_name":"Competitive learning","score":0.6348130702972412},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6288626790046692},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.517866849899292},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4938221871852875},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.44827979803085327},{"id":"https://openalex.org/keywords/supervised-learning","display_name":"Supervised learning","score":0.42413127422332764},{"id":"https://openalex.org/keywords/types-of-artificial-neural-networks","display_name":"Types of artificial neural networks","score":0.4217965006828308},{"id":"https://openalex.org/keywords/learning-rule","display_name":"Learning rule","score":0.41548261046409607},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40162432193756104},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3591330051422119},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.3558173179626465}],"concepts":[{"id":"https://openalex.org/C8038995","wikidata":"https://www.wikidata.org/wiki/Q1152135","display_name":"Unsupervised learning","level":2,"score":0.7259190678596497},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.677826464176178},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6656786203384399},{"id":"https://openalex.org/C120822770","wikidata":"https://www.wikidata.org/wiki/Q5156355","display_name":"Competitive learning","level":3,"score":0.6348130702972412},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6288626790046692},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.517866849899292},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4938221871852875},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.44827979803085327},{"id":"https://openalex.org/C136389625","wikidata":"https://www.wikidata.org/wiki/Q334384","display_name":"Supervised learning","level":3,"score":0.42413127422332764},{"id":"https://openalex.org/C177973122","wikidata":"https://www.wikidata.org/wiki/Q7860946","display_name":"Types of artificial neural networks","level":4,"score":0.4217965006828308},{"id":"https://openalex.org/C2779127903","wikidata":"https://www.wikidata.org/wiki/Q6510194","display_name":"Learning rule","level":3,"score":0.41548261046409607},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40162432193756104},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3591330051422119},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.3558173179626465}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sbr-lars-r.2017.8215270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sbr-lars-r.2017.8215270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1546197084","https://openalex.org/W1596514494","https://openalex.org/W1762370843","https://openalex.org/W1965982727","https://openalex.org/W1968979564","https://openalex.org/W1974551343","https://openalex.org/W1989950430","https://openalex.org/W1995043365","https://openalex.org/W2059572490","https://openalex.org/W2098145645","https://openalex.org/W2132097429","https://openalex.org/W2138484437","https://openalex.org/W2141429008","https://openalex.org/W2148618716","https://openalex.org/W2149012351","https://openalex.org/W6637636810"],"related_works":["https://openalex.org/W1834987387","https://openalex.org/W2735207540","https://openalex.org/W2163389298","https://openalex.org/W2123887195","https://openalex.org/W4235721643","https://openalex.org/W4321635597","https://openalex.org/W3080681248","https://openalex.org/W2986085304","https://openalex.org/W2898814882","https://openalex.org/W2164966738"],"abstract_inverted_index":{"The":[0,134,200],"dynamics":[1],"of":[2,42,53,62,73,87,106,146,159,176,214],"complex":[3],"neural":[4,15,54,63,91,108],"networks":[5,16,109],"modelling":[6],"self-organized":[7],"process":[8],"in":[9,149],"cortical":[10],"maps,":[11],"like":[12],"unsupervised":[13,115,144],"competitive":[14,23],"(UCNN),":[17],"are":[18,48],"based":[19,193,206,224],"on":[20,194,207,225],"the":[21,28,85,114,126,138,153,170,173,204,215,222],"standard":[22],"learning":[24,112,116,145,198,229],"law":[25],"to":[26,83,151],"determine":[27],"best-matching":[29],"representant":[30],"among":[31],"all":[32],"neurons":[33],"for":[34],"a":[35,67,191,195,211,218,226],"given":[36],"input.":[37],"However,":[38],"UCNNs":[39,79,100],"include":[40],"aspects":[41],"long":[43],"and":[44,59,93,143,155,188],"short-term":[45],"memory,":[46],"which":[47],"characterized":[49],"by":[50,183],"an":[51,60,147],"equation":[52,61],"activity":[55],"as":[56,66,103],"fast":[57],"part":[58,117],"synaptic":[64,97],"modification":[65],"slow":[68],"part.":[69],"For":[70],"close-loop":[71],"systems":[72],"mobile":[74,160],"robots":[75,161],"with":[76,110,190,217],"different":[77],"time-scales":[78],"can":[80,101],"be":[81,131,180],"used":[82],"represent":[84],"violation":[86],"kinematic":[88,166],"constraints":[89],"(like":[90,96],"activity)":[92],"generalized":[94],"coordinates":[95],"modifications).":[98],"Furthermore,":[99],"act":[102],"powerful":[104],"preprocessors":[105],"other":[107],"supervised":[111,197,228],"because":[113],"usually":[118],"has":[119],"low":[120],"computational":[121,128],"effort.":[122],"In":[123],"this":[124],"way,":[125],"overall":[127],"effort":[129],"will":[130,179],"considerably":[132],"reduced.":[133],"present":[135],"work":[136],"uses":[137],"mutual":[139],"interference":[140],"between":[141],"neuron":[142],"UCNN":[148,177,208],"order":[150],"analyse":[152],"local":[154],"global":[156],"asymptotic":[157],"stability":[158],"that":[162,203],"not":[163],"exactly":[164],"satisfying":[165],"constraints.":[167],"To":[168],"validate":[169],"proposed":[171],"analysis":[172],"equilibrium":[174],"point":[175],"model":[178,192,205,223],"mathematically":[181],"analysed":[182],"using":[184],"quadratic-type":[185],"Lyapunov":[186],"functions":[187],"compared":[189],"fully":[196,227],"rule.":[199,230],"results":[201],"shows":[202],"converges":[209],"toward":[210],"small":[212],"ball":[213],"origin":[216],"better":[219],"performance":[220],"than":[221]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}
