{"id":"https://openalex.org/W2134966857","doi":"https://doi.org/10.1109/tro.2009.2014123","title":"Control of Nonholonomic Mobile Robots Based on the Transverse Function Approach","display_name":"Control of Nonholonomic Mobile Robots Based on the Transverse Function Approach","publication_year":2009,"publication_date":"2009-04-08","ids":{"openalex":"https://openalex.org/W2134966857","doi":"https://doi.org/10.1109/tro.2009.2014123","mag":"2134966857"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2009.2014123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2014123","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5036552594","display_name":"Pascal Morin","orcid":"https://orcid.org/0000-0003-3360-8269"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"P. Morin","raw_affiliation_strings":["French National Institute of Research in Computer Science and Automation, Sophia-Antipolis, France","French Nat. Inst. for Res. in Comput. Sci. & Autom. (INRIA), Sophia-Antipolis, France"],"affiliations":[{"raw_affiliation_string":"French National Institute of Research in Computer Science and Automation, Sophia-Antipolis, France","institution_ids":[]},{"raw_affiliation_string":"French Nat. Inst. for Res. in Comput. Sci. & Autom. (INRIA), Sophia-Antipolis, France","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013665591","display_name":"Claude Samson","orcid":"https://orcid.org/0000-0002-3769-6174"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"C. Samson","raw_affiliation_strings":["French National Institute of Research in Computer Science and Automation, Sophia-Antipolis, France","French Nat. Inst. for Res. in Comput. Sci. & Autom. (INRIA), Sophia-Antipolis, France"],"affiliations":[{"raw_affiliation_string":"French National Institute of Research in Computer Science and Automation, Sophia-Antipolis, France","institution_ids":[]},{"raw_affiliation_string":"French Nat. Inst. for Res. in Comput. Sci. & Autom. (INRIA), Sophia-Antipolis, France","institution_ids":["https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5036552594"],"corresponding_institution_ids":["https://openalex.org/I1326498283"],"apc_list":null,"apc_paid":null,"fwci":26.0242,"has_fulltext":false,"cited_by_count":148,"citation_normalized_percentile":{"value":0.99602853,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"25","issue":"5","first_page":"1058","last_page":"1073"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9957000017166138,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/nonholonomic-system","display_name":"Nonholonomic system","score":0.666259765625},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6010695695877075},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6007717847824097},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5863872766494751},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.5764085650444031},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.558241605758667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4901445806026459},{"id":"https://openalex.org/keywords/lie-group","display_name":"Lie group","score":0.4680808484554291},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.45359131693840027},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.41670161485671997},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.412922203540802},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40693333745002747},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3688993453979492},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3278563618659973},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3228417634963989},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20800119638442993},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19210100173950195},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08505797386169434}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.666259765625},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6010695695877075},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6007717847824097},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5863872766494751},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5764085650444031},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.558241605758667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4901445806026459},{"id":"https://openalex.org/C187915474","wikidata":"https://www.wikidata.org/wiki/Q622679","display_name":"Lie group","level":2,"score":0.4680808484554291},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.45359131693840027},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.41670161485671997},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.412922203540802},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40693333745002747},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3688993453979492},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3278563618659973},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3228417634963989},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20800119638442993},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19210100173950195},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08505797386169434},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2009.2014123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2014123","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6800000071525574,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W134451811","https://openalex.org/W179828086","https://openalex.org/W203627250","https://openalex.org/W299416949","https://openalex.org/W1564897360","https://openalex.org/W1596951786","https://openalex.org/W1634952812","https://openalex.org/W1687739456","https://openalex.org/W1964373008","https://openalex.org/W1971044547","https://openalex.org/W1973256573","https://openalex.org/W1989392458","https://openalex.org/W2026839528","https://openalex.org/W2043515542","https://openalex.org/W2047771547","https://openalex.org/W2052871783","https://openalex.org/W2054115913","https://openalex.org/W2054887154","https://openalex.org/W2076829493","https://openalex.org/W2091744500","https://openalex.org/W2092272609","https://openalex.org/W2098871947","https://openalex.org/W2106979901","https://openalex.org/W2111338039","https://openalex.org/W2111369225","https://openalex.org/W2113057510","https://openalex.org/W2122513851","https://openalex.org/W2124052803","https://openalex.org/W2124367238","https://openalex.org/W2138462423","https://openalex.org/W2139046735","https://openalex.org/W2144026911","https://openalex.org/W2154384511","https://openalex.org/W2154445928","https://openalex.org/W2160864841","https://openalex.org/W2165126667","https://openalex.org/W2171457282","https://openalex.org/W2175643442","https://openalex.org/W2188904792","https://openalex.org/W2600604505","https://openalex.org/W3217246742","https://openalex.org/W4285719527","https://openalex.org/W6669783598","https://openalex.org/W6676503828","https://openalex.org/W7021158690"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W2020829486","https://openalex.org/W2047917582","https://openalex.org/W2038504463","https://openalex.org/W2016451691","https://openalex.org/W2894660196","https://openalex.org/W2979398413","https://openalex.org/W1532677580","https://openalex.org/W2386719143"],"abstract_inverted_index":{"The":[0,77],"problem":[1,14],"of":[2,41,66,74,99,106,117,126,149,152,156,166,186,206],"stabilizing":[3],"reference":[4,128],"trajectories":[5,158],"-":[6,15],"also":[7,160,201],"referred":[8],"to":[9,30,111,169,189],"as":[10],"the":[11,72,87,90,107,112,115,123,145,187,204],"trajectory":[12],"tracking":[13],"for":[16,89],"nonholonomic":[17],"mobile":[18],"robots":[19],"is":[20,32,94,114,138,174],"revisited.":[21],"Theoretical":[22],"difficulties":[23],"and":[24,39,133,171,176],"impossibilities":[25],"that":[26,54,120,191],"set":[27],"inevitable":[28],"limits":[29],"what":[31],"achievable":[33],"with":[34,47,140,163,203],"feedback":[35,118],"control":[36,43,82],"are":[37,45,55,192,200],"surveyed,":[38],"properties":[40,69],"kinematic":[42],"models":[44],"recalled,":[46],"a":[48,58,81,153,196],"focus":[49],"on":[50,57,195],"controllable":[51],"driftless":[52],"systems":[53,190],"invariant":[56,194],"Lie":[59,197],"group.":[60],"This":[61,136],"geometric":[62],"framework":[63],"takes":[64],"advantage":[65],"ubiquitous":[67],"symmetry":[68],"involved":[70],"in":[71],"motion":[73],"mechanical":[75],"bodies.":[76],"transverse":[78],"function":[79],"approach,":[80,101],"design":[83],"method":[84],"developed":[85],"by":[86],"authors":[88],"past":[91],"few":[92],"years,":[93],"reviewed.":[95],"A":[96],"salient":[97],"feature":[98],"this":[100,164],"which":[102],"singles":[103],"it":[104],"out":[105],"abundant":[108],"literature":[109],"devoted":[110],"subject,":[113],"obtention":[116],"laws":[119],"unconditionally":[121],"achieve":[122],"practical":[124],"stabilization":[125,151],"arbitrary":[127],"trajectories,":[129],"including":[130],"fixed":[131],"points":[132],"nonadmissible":[134],"trajectories.":[135],"property":[137,148],"complemented":[139],"novel":[141],"results":[142],"showing":[143],"how":[144],"more":[146],"common":[147],"asymptotic":[150],"large":[154],"class":[155],"admissible":[157],"can":[159],"be":[161],"granted":[162],"type":[165],"control.":[167],"Application":[168],"unicycle-type":[170],"car-like":[172],"vehicles":[173],"presented":[175],"illustrated":[177],"via":[178],"simulations.":[179],"Complementary":[180],"issues":[181],"(transient":[182],"maneuvers":[183],"monitoring,":[184],"extensions":[185],"approach":[188],"not":[193],"group,":[198],"etc.)":[199],"addressed":[202],"concern":[205],"practicality.":[207]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":15},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":11},{"year":2012,"cited_by_count":11}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}