{"id":"https://openalex.org/W2037380681","doi":"https://doi.org/10.1177/02783640122067417","title":"Cusp-Free, Time-Invariant, 3D Feedback Control Law for a Nonholonomic Floating Robot","display_name":"Cusp-Free, Time-Invariant, 3D Feedback Control Law for a Nonholonomic Floating Robot","publication_year":2001,"publication_date":"2001-04-01","ids":{"openalex":"https://openalex.org/W2037380681","doi":"https://doi.org/10.1177/02783640122067417","mag":"2037380681"},"language":"en","primary_location":{"id":"doi:10.1177/02783640122067417","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640122067417","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5012101370","display_name":"M. Aicardi","orcid":"https://orcid.org/0000-0001-6462-8815"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michele Aicardi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043106123","display_name":"Giorgio Cannata","orcid":"https://orcid.org/0000-0001-7932-5411"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Giorgio Cannata","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018009472","display_name":"Giuseppe Casalino","orcid":"https://orcid.org/0000-0003-1774-4631"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Casalino","raw_affiliation_strings":["DIST-Department of Communications, Computers and Systems Science,                         Universit\u00e0 di Genova, via all\u2019Opera Pia 13, 16145                         Genova, Italy"],"affiliations":[{"raw_affiliation_string":"DIST-Department of Communications, Computers and Systems Science,                         Universit\u00e0 di Genova, via all\u2019Opera Pia 13, 16145                         Genova, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066572669","display_name":"Giovanni Indiveri","orcid":"https://orcid.org/0000-0001-8683-2948"},"institutions":[{"id":"https://openalex.org/I4210144576","display_name":"Fraunhofer Institute for Intelligent Analysis and Information Systems","ror":"https://ror.org/04nc32781","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210144576","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Giovanni Indiveri","raw_affiliation_strings":["GMD-AiS, German National Research Center on Information Technologies,                         Institute for Autonomous Intelligent Systems, Schloss Birlinghoven, 53754                         Sankt Augustin, Germany","GMD-AiS, German National Research Center on Information Technologies, Institute for Autonomous Intelligent Systems, Schloss Birlinghoven, 53754 Sankt Augustin, Germany"],"affiliations":[{"raw_affiliation_string":"GMD-AiS, German National Research Center on Information Technologies,                         Institute for Autonomous Intelligent Systems, Schloss Birlinghoven, 53754                         Sankt Augustin, Germany","institution_ids":["https://openalex.org/I4210144576"]},{"raw_affiliation_string":"GMD-AiS, German National Research Center on Information Technologies, Institute for Autonomous Intelligent Systems, Schloss Birlinghoven, 53754 Sankt Augustin, Germany","institution_ids":["https://openalex.org/I4210144576"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5066572669"],"corresponding_institution_ids":["https://openalex.org/I4210144576"],"apc_list":null,"apc_paid":null,"fwci":2.2473,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.88221123,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"20","issue":"4","first_page":"300","last_page":"311"},"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":0.996399998664856,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9901999831199646,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.755052924156189},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7546793222427368},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6635773777961731},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5862106084823608},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5120697617530823},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4385254681110382},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37352293729782104},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34664151072502136},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24950066208839417},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20767205953598022},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2071479856967926},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16485875844955444},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12295466661453247},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09275004267692566}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.755052924156189},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7546793222427368},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6635773777961731},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5862106084823608},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5120697617530823},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4385254681110382},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37352293729782104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34664151072502136},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24950066208839417},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20767205953598022},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2071479856967926},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16485875844955444},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12295466661453247},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09275004267692566},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1177/02783640122067417","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640122067417","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:fraunhofer.de:2004937957","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/2004937957.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400801","display_name":"Publikationsdatenbank der Fraunhofer-Gesellschaft (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer AIS","raw_type":"Journal Article"},{"id":"pmh:oai:iris.unige.it:11567/1021730","is_oa":false,"landing_page_url":"https://hdl.handle.net/11567/1021730","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/200664","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/200664","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"journal article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W158594355","https://openalex.org/W1487127700","https://openalex.org/W1542776304","https://openalex.org/W1590684588","https://openalex.org/W1961666289","https://openalex.org/W1971044547","https://openalex.org/W1983764986","https://openalex.org/W2033699235","https://openalex.org/W2079519375","https://openalex.org/W2099388669","https://openalex.org/W2120944681","https://openalex.org/W2127795189","https://openalex.org/W2129496494","https://openalex.org/W2143124990","https://openalex.org/W2717184045","https://openalex.org/W6629040409","https://openalex.org/W6635423901"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W587013945","https://openalex.org/W2032198329","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4292915238","https://openalex.org/W2106586754","https://openalex.org/W2036009937","https://openalex.org/W2347322976"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,14,39,60,79,97],"feedback":[4],"control":[5,52],"of":[6,16,41,59,81],"a":[7,23,27,46,75],"nonholonomic":[8],"3D":[9],"vehicle":[10],"is":[11,30,36],"considered;":[12],"namely,":[13],"problem":[15],"steering":[17],"an":[18],"underactuated":[19],"rigid":[20],"body":[21],"to":[22,63,93],"target":[24],"position":[25],"along":[26],"desired":[28,92],"direction":[29],"addressed.":[31],"A":[32],"simple":[33],"time-invariant":[34],"strategy":[35],"determined":[37],"on":[38,84],"basis":[40],"standard":[42],"vector":[43],"kinematics":[44],"and":[45,99],"Lyapunov-like":[47],"stability":[48],"analysis.":[49],"The":[50],"resulting":[51],"law":[53],"guarantees":[54],"almost":[55],"global":[56],"exponential":[57],"convergence":[58],"configuration":[61],"error":[62],"zero":[64],"with":[65],"paths":[66],"that":[67,87],"do":[68],"not":[69,89],"exhibit":[70],"any":[71],"cusps,":[72],"thus":[73],"satisfying":[74],"major":[76],"requirement":[77],"for":[78],"application":[80],"such":[82],"results":[83],"real":[85],"systems":[86],"are":[88],"allowed":[90],"or":[91],"move":[94],"in":[95],"both":[96],"forward":[98],"backward":[100],"directions.":[101]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}