{"id":"https://openalex.org/W2038651789","doi":"https://doi.org/10.1163/156855305774662217","title":"Level sets and stable manifold approximations for perceptually driven non-holonomically constrained navigation","display_name":"Level sets and stable manifold approximations for perceptually driven non-holonomically constrained navigation","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2038651789","doi":"https://doi.org/10.1163/156855305774662217","mag":"2038651789"},"language":"en","primary_location":{"id":"doi:10.1163/156855305774662217","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855305774662217","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.upenn.edu/bitstreams/6ee6f601-4db7-4b5a-9afe-3aac35659cfd/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046652464","display_name":"Gabriel A. D. Lopes","orcid":"https://orcid.org/0000-0002-2406-9489"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Gabriel A. D. Lopes","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5082032878","display_name":"Daniel E. Koditschek","orcid":"https://orcid.org/0000-0001-5188-1352"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniel E. Koditschek","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5046652464"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9383,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.87079042,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"19","issue":"10","first_page":"1081","last_page":"1095"},"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":0.9994000196456909,"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":0.9994000196456909,"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":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/holonomic","display_name":"Holonomic","score":0.7107049822807312},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.6284287571907043},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.551111102104187},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.5492784380912781},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.49171191453933716},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4773036241531372},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47387003898620605},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4395812451839447},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.418915331363678},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4165681004524231},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38530170917510986},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.350716233253479},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3247498571872711},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09382572770118713}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.7107049822807312},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.6284287571907043},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.551111102104187},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.5492784380912781},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.49171191453933716},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4773036241531372},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47387003898620605},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4395812451839447},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.418915331363678},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4165681004524231},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38530170917510986},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.350716233253479},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3247498571872711},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09382572770118713},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1163/156855305774662217","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855305774662217","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:repository.upenn.edu:ese_papers-1127","is_oa":true,"landing_page_url":"https://repository.upenn.edu/ese_papers/131","pdf_url":"https://repository.upenn.edu/bitstreams/6ee6f601-4db7-4b5a-9afe-3aac35659cfd/download","source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (ESE)","raw_type":"text"},{"id":"pmh:oai:repository.upenn.edu:20.500.14332/33312","is_oa":false,"landing_page_url":"https://repository.upenn.edu/handle/20.500.14332/33312","pdf_url":null,"source":{"id":"https://openalex.org/S4377196331","display_name":"Scholarly Commons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"published","raw_type":"Presentation"}],"best_oa_location":{"id":"pmh:oai:repository.upenn.edu:ese_papers-1127","is_oa":true,"landing_page_url":"https://repository.upenn.edu/ese_papers/131","pdf_url":"https://repository.upenn.edu/bitstreams/6ee6f601-4db7-4b5a-9afe-3aac35659cfd/download","source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (ESE)","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2038651789.pdf"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W207022543","https://openalex.org/W1567345079","https://openalex.org/W1822001265","https://openalex.org/W1832761836","https://openalex.org/W2023190198","https://openalex.org/W2033699235","https://openalex.org/W2050439892","https://openalex.org/W2076738229","https://openalex.org/W2089876099","https://openalex.org/W2099716873","https://openalex.org/W2100165947","https://openalex.org/W2100249329","https://openalex.org/W2101478999","https://openalex.org/W2121324469","https://openalex.org/W2127988032","https://openalex.org/W2132714442","https://openalex.org/W2135306978","https://openalex.org/W3038698521","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W2154502479","https://openalex.org/W1593123930","https://openalex.org/W2127776540","https://openalex.org/W2365582959","https://openalex.org/W2007583701","https://openalex.org/W2363850121","https://openalex.org/W2717412651","https://openalex.org/W2147349727","https://openalex.org/W2113830208","https://openalex.org/W876576717"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"problems":[3],"of":[4,33],"robot":[5],"navigation":[6,65],"with":[7],"nonholonomic":[8],"motion":[9,28,56],"constraints":[10],"and":[11,30,75,80],"perceptual":[12,124],"cues":[13],"arising":[14,62],"from":[15,63],"onboard":[16],"visual":[17],"servoing":[18],"in":[19,67,92,100],"partially":[20],"engineered":[21],"environments.":[22],"We":[23,45],"focus":[24],"on":[25],"a":[26,31,47,64],"unicycle":[27],"model":[29],"variety":[32],"artificial":[34],"beacon":[35],"constellations":[36],"motivated":[37],"by":[38,72,128],"relevance":[39],"to":[40,53,97,117],"the":[41,54,58,68,82,87,93,112,118],"autonomous":[42],"hexapod,":[43],"RHex.":[44],"propose":[46],"general":[48,107],"hybrid":[49],"procedure":[50,114],"that":[51],"adapts":[52],"constrained":[55,94],"setting":[57],"standard":[59],"feedback":[60],"controller":[61],"function":[66],"fully":[69],"actuated":[70],"case":[71],"switching":[73],"back":[74],"forth":[76],"between":[77],"moving":[78],"\"down\"":[79],"\"across\"":[81],"associated":[83],"gradient":[84],"field":[85],"toward":[86],"stable":[88],"manifold":[89],"it":[90],"induces":[91],"dynamics.":[95],"Guaranteed":[96],"avoid":[98],"obstacles":[99],"all":[101],"cases,":[102],"we":[103],"provide":[104],"some":[105],"reasonably":[106],"sufficient":[108],"conditions":[109],"under":[110],"which":[111],"new":[113],"guarantees":[115],"convergence":[116],"goal.":[119],"Simulations":[120],"are":[121],"provided":[122],"for":[123],"models":[125],"previously":[126],"introduced":[127],"other":[129],"authors.":[130]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}