{"id":"https://openalex.org/W1984884934","doi":"https://doi.org/10.1109/tie.2013.2240631","title":"Steering the Last Trailer as a Virtual Tractor for Reversing Vehicles With Passive On- and Off-Axle Hitches","display_name":"Steering the Last Trailer as a Virtual Tractor for Reversing Vehicles With Passive On- and Off-Axle Hitches","publication_year":2013,"publication_date":"2013-01-16","ids":{"openalex":"https://openalex.org/W1984884934","doi":"https://doi.org/10.1109/tie.2013.2240631","mag":"1984884934"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2013.2240631","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2013.2240631","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-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/A5100651933","display_name":"Jes\u00fas Morales","orcid":"https://orcid.org/0000-0003-1095-4775"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jesus Morales","raw_affiliation_strings":["Departamento de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Escuela de Ingenieri\u00e1s Universidad de M\u00e1laga, Malaga, Spain","Dept. de Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Escuela de Ingenieri\u00e1s Universidad de M\u00e1laga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Dept. de Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014881396","display_name":"Jorge L. Mart\u00ednez","orcid":"https://orcid.org/0000-0002-8940-2465"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jorge L. Martinez","raw_affiliation_strings":["Departamento de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Escuela de Ingenieri\u00e1s Universidad de M\u00e1laga, Malaga, Spain","Dept. de Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Escuela de Ingenieri\u00e1s Universidad de M\u00e1laga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Dept. de Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035771066","display_name":"Anthony Mandow","orcid":"https://orcid.org/0000-0002-9994-6239"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Anthony Mandow","raw_affiliation_strings":["Departamento de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Escuela de Ingenieri\u00e1s Universidad de M\u00e1laga, Malaga, Spain","Dept. de Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Escuela de Ingenieri\u00e1s Universidad de M\u00e1laga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Dept. de Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052476498","display_name":"Alfonso Garc\u00eda-Cerezo","orcid":"https://orcid.org/0000-0003-3432-3230"},"institutions":[{"id":"https://openalex.org/I82767444","display_name":"Universidad de M\u00e1laga","ror":"https://ror.org/036b2ww28","country_code":"ES","type":"education","lineage":["https://openalex.org/I82767444"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alfonso J. Garcia-Cerezo","raw_affiliation_strings":["Departamento de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Escuela de Ingenieri\u00e1s Universidad de M\u00e1laga, Malaga, Spain","Dept. de Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Escuela de Ingenieri\u00e1s Universidad de M\u00e1laga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]},{"raw_affiliation_string":"Dept. de Ing. de Sist. y Autom., Univ. de Malaga, Malaga, Spain","institution_ids":["https://openalex.org/I82767444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.1263,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":{"value":0.96691088,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"60","issue":"12","first_page":"5729","last_page":"5736"},"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":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/axle","display_name":"Axle","score":0.8055388331413269},{"id":"https://openalex.org/keywords/tractor","display_name":"Tractor","score":0.7643653750419617},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7041468024253845},{"id":"https://openalex.org/keywords/trailer","display_name":"Trailer","score":0.6197787523269653},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5671260356903076},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.49024373292922974},{"id":"https://openalex.org/keywords/reversing","display_name":"Reversing","score":0.47634342312812805},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.4431113600730896},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39379405975341797},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35309311747550964},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1393066644668579},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.13006073236465454}],"concepts":[{"id":"https://openalex.org/C129727815","wikidata":"https://www.wikidata.org/wiki/Q188209","display_name":"Axle","level":2,"score":0.8055388331413269},{"id":"https://openalex.org/C2780427559","wikidata":"https://www.wikidata.org/wiki/Q39495","display_name":"Tractor","level":2,"score":0.7643653750419617},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7041468024253845},{"id":"https://openalex.org/C2779101595","wikidata":"https://www.wikidata.org/wiki/Q7832787","display_name":"Trailer","level":2,"score":0.6197787523269653},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5671260356903076},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.49024373292922974},{"id":"https://openalex.org/C2781085045","wikidata":"https://www.wikidata.org/wiki/Q7318308","display_name":"Reversing","level":2,"score":0.47634342312812805},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.4431113600730896},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39379405975341797},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35309311747550964},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1393066644668579},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.13006073236465454},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2013.2240631","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2013.2240631","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1347505","https://openalex.org/W1975500268","https://openalex.org/W1980641585","https://openalex.org/W1989340725","https://openalex.org/W2000656775","https://openalex.org/W2027162577","https://openalex.org/W2028983002","https://openalex.org/W2048427503","https://openalex.org/W2058713655","https://openalex.org/W2069452254","https://openalex.org/W2069870132","https://openalex.org/W2085664321","https://openalex.org/W2100467575","https://openalex.org/W2102119157","https://openalex.org/W2105383528","https://openalex.org/W2106132706","https://openalex.org/W2112315298","https://openalex.org/W2114040316","https://openalex.org/W2115792596","https://openalex.org/W2116228616","https://openalex.org/W2120420383","https://openalex.org/W2121441085","https://openalex.org/W2124707628","https://openalex.org/W2127061146","https://openalex.org/W2127962152","https://openalex.org/W2129469913","https://openalex.org/W2141853156","https://openalex.org/W2153692674","https://openalex.org/W2154256781","https://openalex.org/W2155465595","https://openalex.org/W2163622539","https://openalex.org/W2169468938","https://openalex.org/W2171074980","https://openalex.org/W2171414411","https://openalex.org/W2172224813","https://openalex.org/W2181002973","https://openalex.org/W2537863368","https://openalex.org/W4234585610","https://openalex.org/W6662955296","https://openalex.org/W6667690755","https://openalex.org/W6677360236"],"related_works":["https://openalex.org/W2354780065","https://openalex.org/W3011985225","https://openalex.org/W2482155543","https://openalex.org/W2901163975","https://openalex.org/W1521422881","https://openalex.org/W577089656","https://openalex.org/W3203586837","https://openalex.org/W2083349585","https://openalex.org/W1624496537","https://openalex.org/W2379377725"],"abstract_inverted_index":{"The":[0,24,62,96],"paper":[1,63],"reports":[2],"on":[3],"a":[4,10,30,43,111],"practical":[5],"backward":[6],"motion":[7,56],"strategy":[8],"for":[9,102],"vehicle":[11],"pushing":[12],"several":[13],"passive":[14],"trailers":[15],"with":[16,115],"any":[17],"combination":[18],"of":[19,39,71,122],"on-":[20],"and":[21,106,119,131],"off-axle":[22],"hitches.":[23,76],"last":[25],"trailer":[26],"is":[27,79],"defined":[28],"as":[29],"virtual":[31,72],"tractor":[32],"that":[33],"can":[34],"be":[35,85],"guided":[36],"along":[37],"paths":[38],"varying":[40],"curvature":[41],"like":[42],"single":[44],"non-holonomic":[45],"vehicle.":[46],"Then,":[47],"kinematic":[48,89],"relationships":[49],"are":[50],"proposed":[51],"to":[52,58,88],"translate":[53],"the":[54,59],"resulting":[55],"commands":[57],"actual":[60],"tractor.":[61],"extends":[64],"previous":[65],"work":[66],"by":[67,92],"specifically":[68],"addressing":[69],"propagation":[70,83],"set-points":[73],"through":[74],"on-axle":[75,120],"This":[77],"case":[78],"difficult":[80],"because":[81],"direct":[82],"cannot":[84],"achieved":[86],"due":[87],"restrictions":[90],"imposed":[91],"current":[93],"joint":[94],"angles.":[95],"method":[97],"has":[98],"been":[99],"experimentally":[100],"applied":[101],"both":[103],"autonomous":[104,129],"path-tracking":[105],"online":[107],"operator":[108],"steering":[109],"using":[110],"tracked":[112],"mobile":[113],"robot":[114],"two":[116],"different":[117],"off-":[118],"combinations":[121],"dissimilar":[123],"trailers.":[124],"Results":[125],"indicate":[126],"applicability":[127],"in":[128],"vehicles":[130],"advanced":[132],"driver":[133],"assistance":[134],"systems.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
