{"id":"https://openalex.org/W2573937190","doi":"https://doi.org/10.1109/tcyb.2016.2646719","title":"Adaptive Trajectory Tracking of Nonholonomic Mobile Robots Using Vision-Based Position and Velocity Estimation","display_name":"Adaptive Trajectory Tracking of Nonholonomic Mobile Robots Using Vision-Based Position and Velocity Estimation","publication_year":2017,"publication_date":"2017-01-16","ids":{"openalex":"https://openalex.org/W2573937190","doi":"https://doi.org/10.1109/tcyb.2016.2646719","mag":"2573937190","pmid":"https://pubmed.ncbi.nlm.nih.gov/28092594"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2016.2646719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2016.2646719","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5101630266","display_name":"Luyang Li","orcid":"https://orcid.org/0000-0002-0980-5046"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Luyang Li","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103068528","display_name":"Tianjiao Jiang","orcid":"https://orcid.org/0000-0001-6033-430X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianjiao Jiang","raw_affiliation_strings":["Department of Finance, Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Finance, Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100436958","display_name":"Kai Wang","orcid":"https://orcid.org/0000-0001-8955-877X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Wang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007980340","display_name":"Mu Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mu Fang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101630266"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":6.6382,"has_fulltext":false,"cited_by_count":77,"citation_normalized_percentile":{"value":0.97030595,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"48","issue":"2","first_page":"571","last_page":"582"},"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":0.9997000098228455,"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":0.9997000098228455,"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":0.9994999766349792,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9991999864578247,"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/trajectory","display_name":"Trajectory","score":0.7778700590133667},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.7358014583587646},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6753486394882202},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6285819411277771},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6215709447860718},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5762630105018616},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5571310520172119},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5407426953315735},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.540413498878479},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5175846815109253},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.5037536025047302},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5017807483673096},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.48639610409736633},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4501575529575348},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44702979922294617},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.4120790958404541},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21704629063606262},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19107550382614136},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07697755098342896}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7778700590133667},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.7358014583587646},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6753486394882202},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6285819411277771},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6215709447860718},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5762630105018616},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5571310520172119},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5407426953315735},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.540413498878479},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5175846815109253},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.5037536025047302},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5017807483673096},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.48639610409736633},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4501575529575348},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44702979922294617},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.4120790958404541},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21704629063606262},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19107550382614136},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07697755098342896},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2016.2646719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2016.2646719","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cybernetics","raw_type":"journal-article"},{"id":"pmid:28092594","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/28092594","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1677409904","https://openalex.org/W1970480246","https://openalex.org/W1980765536","https://openalex.org/W2001643966","https://openalex.org/W2001836169","https://openalex.org/W2021503353","https://openalex.org/W2028044548","https://openalex.org/W2042795879","https://openalex.org/W2042856586","https://openalex.org/W2044341605","https://openalex.org/W2045975141","https://openalex.org/W2054797486","https://openalex.org/W2056639756","https://openalex.org/W2064297441","https://openalex.org/W2068175365","https://openalex.org/W2070716745","https://openalex.org/W2083483041","https://openalex.org/W2094207731","https://openalex.org/W2097671019","https://openalex.org/W2101890989","https://openalex.org/W2103471724","https://openalex.org/W2114302218","https://openalex.org/W2119605622","https://openalex.org/W2141429008","https://openalex.org/W2147536420","https://openalex.org/W2148720991","https://openalex.org/W2158562561","https://openalex.org/W2163295544","https://openalex.org/W2337917776","https://openalex.org/W2400621881","https://openalex.org/W2466393651","https://openalex.org/W2525538692"],"related_works":["https://openalex.org/W2898919627","https://openalex.org/W4379536980","https://openalex.org/W2666300258","https://openalex.org/W2118689766","https://openalex.org/W1989062809","https://openalex.org/W2625795345","https://openalex.org/W2215517927","https://openalex.org/W2137384304","https://openalex.org/W114721022","https://openalex.org/W1966688224"],"abstract_inverted_index":{"Despite":[0],"tremendous":[1],"efforts":[2],"made":[3],"for":[4,52],"years,":[5],"trajectory":[6,47],"tracking":[7],"control":[8,120],"(TC)":[9],"of":[10,69,78,85,118],"a":[11,43,70,111],"nonholonomic":[12],"mobile":[13],"robot":[14,33,80],"(NMR)":[15],"without":[16,55],"global":[17],"positioning":[18],"system":[19],"remains":[20],"an":[21,86],"open":[22],"problem.":[23],"The":[24,62],"major":[25],"reason":[26],"is":[27,50,64,90],"the":[28,32,53,67,79,94,98,116,119],"difficulty":[29],"to":[30,73,101,104,114],"localize":[31],"by":[34],"using":[35],"its":[36,56],"onboard":[37],"sensors":[38],"only.":[39],"In":[40],"this":[41],"paper,":[42],"newly":[44],"designed":[45,65],"adaptive":[46],"TC":[48,99],"method":[49],"proposed":[51,95],"NMR":[54,113],"position,":[57],"orientation,":[58],"and":[59,76],"velocity":[60,77],"measurements.":[61],"controller":[63],"on":[66,110],"basis":[68],"novel":[71],"algorithm":[72,96],"estimate":[74],"position":[75],"online":[81],"from":[82],"visual":[83],"feedback":[84],"omnidirectional":[87],"camera.":[88],"It":[89],"theoretically":[91],"proved":[92],"that":[93],"yields":[97],"errors":[100],"asymptotically":[102],"converge":[103],"zero.":[105],"Real-world":[106],"experiments":[107],"are":[108],"conducted":[109],"wheeled":[112],"validate":[115],"feasibility":[117],"system.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":12}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}