{"id":"https://openalex.org/W2027162577","doi":"https://doi.org/10.1177/0278364905058239","title":"Approximating Kinematics for Tracked Mobile Robots","display_name":"Approximating Kinematics for Tracked Mobile Robots","publication_year":2005,"publication_date":"2005-09-23","ids":{"openalex":"https://openalex.org/W2027162577","doi":"https://doi.org/10.1177/0278364905058239","mag":"2027162577"},"language":"en","primary_location":{"id":"doi:10.1177/0278364905058239","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364905058239","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/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":"J. L. Mart\u00ednez","raw_affiliation_strings":["Dept. Ingenier\u00eda de Sistemas y Autom\u00e1tica,                         Universidad de M\u00e1laga, Plaza El Ejido s/n,                         29013-M\u00e1laga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. Ingenier\u00eda de Sistemas y Autom\u00e1tica,                         Universidad de M\u00e1laga, Plaza El Ejido s/n,                         29013-M\u00e1laga, 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":"A. Mandow","raw_affiliation_strings":["Dept. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, Plaza El Ejido s/n, 29013-M\u00e1laga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, Plaza El Ejido s/n, 29013-M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100651933","display_name":"Jes\u00fas Morales","orcid":"https://orcid.org/0000-0003-1095-4775"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"J. Morales","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039102962","display_name":"S. Pedraza","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"S. Pedraza","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"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":"A. Garc\u00eda-Cerezo","raw_affiliation_strings":["Dept. Ingenier\u00eda de Sistemas y Autom\u00e1tica,                         Universidad de M\u00e1laga, Plaza El Ejido s/n,                         29013-M\u00e1laga, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. Ingenier\u00eda de Sistemas y Autom\u00e1tica,                         Universidad de M\u00e1laga, Plaza El Ejido s/n,                         29013-M\u00e1laga, Spain","institution_ids":["https://openalex.org/I82767444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.8881,"has_fulltext":false,"cited_by_count":228,"citation_normalized_percentile":{"value":0.94025038,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"24","issue":"10","first_page":"867","last_page":"878"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991999864578247,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.998199999332428,"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/kinematics","display_name":"Kinematics","score":0.8324533700942993},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6519517302513123},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5652239918708801},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5341023206710815},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5004193782806396},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47032129764556885},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44891977310180664},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4119076728820801},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38575220108032227},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3798251152038574},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2026878297328949},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13280963897705078},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09249952435493469},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07432791590690613}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8324533700942993},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6519517302513123},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5652239918708801},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5341023206710815},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5004193782806396},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47032129764556885},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44891977310180664},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4119076728820801},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38575220108032227},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3798251152038574},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2026878297328949},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13280963897705078},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09249952435493469},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07432791590690613}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364905058239","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364905058239","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W639923773","https://openalex.org/W1498688739","https://openalex.org/W1578483761","https://openalex.org/W1984481333","https://openalex.org/W2005122154","https://openalex.org/W2074462567","https://openalex.org/W2102145772","https://openalex.org/W2102760825","https://openalex.org/W2119275013","https://openalex.org/W2121844072","https://openalex.org/W2121884734","https://openalex.org/W2126446360","https://openalex.org/W2135392363","https://openalex.org/W2149707655","https://openalex.org/W2270300420","https://openalex.org/W2615934271","https://openalex.org/W2798404144","https://openalex.org/W6693701967"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2005471069"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"propose":[4],"a":[5,95,104,154,184],"kinematic":[6,111,126],"approach":[7],"for":[8,49,103,113,122,138,170],"tracked":[9,114],"mobile":[10,115,181],"robots":[11],"in":[12,60,108],"order":[13],"to":[14,24,32,86],"improve":[15],"motion":[16,36,82,176],"control":[17,177],"and":[18,26,174],"pose":[19],"estimation.":[20],"Complex":[21],"dynamics":[22,59],"due":[23],"slippage":[25],"track\u2013soil":[27],"interactions":[28],"make":[29],"it":[30],"difficult":[31],"predict":[33],"the":[34,38,41,61,69,72,81,87,131,135,139,144,159,179],"exact":[35],"of":[37,43,75,78,125,130,134,143,148],"vehicle":[39,88],"on":[40,68,80,183],"basis":[42],"track":[44],"velocities.":[45],"Nevertheless,":[46],"real-time":[47],"computations":[48,173],"autonomous":[50],"navigation":[51],"require":[52],"an":[53,109,149],"effective":[54],"kinematics":[55],"approximation":[56],"without":[57],"introducing":[58],"loop.":[62],"The":[63],"proposed":[64],"solution":[65],"is":[66],"based":[67],"fact":[70],"that":[71,153],"instantaneous":[73],"centers":[74],"rotation":[76],"(ICRs)":[77],"treads":[79],"plane":[83],"with":[84,178],"respect":[85],"are":[89,120],"dynamics-dependent,":[90],"but":[91],"they":[92],"lie":[93],"within":[94],"bounded":[96],"area.":[97],"Thus,":[98],"optimizing":[99],"constant":[100],"ICR":[101],"positions":[102],"particular":[105],"terrain":[106],"results":[107],"approximate":[110],"model":[112,137,160],"robots.":[116],"Two":[117],"different":[118],"approaches":[119],"presented":[121],"off-line":[123],"estimation":[124],"parameters:":[127],"(i)":[128],"simulation":[129],"stationary":[132],"response":[133],"dynamic":[136],"whole":[140],"velocity":[141],"range":[142],"vehicle;":[145],"(ii)":[146],"introduction":[147],"experimental":[150],"setup":[151],"so":[152],"genetic":[155],"algorithm":[156],"can":[157],"produce":[158],"from":[161],"actual":[162],"sensor":[163],"readings.":[164],"These":[165],"methods":[166],"have":[167],"been":[168],"evaluated":[169],"on-line":[171],"odometric":[172],"low-level":[175],"Auriga-\u03b1":[180],"robot":[182],"hard-surface":[185],"flat":[186],"soil":[187],"at":[188],"moderate":[189],"speeds.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":19},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":19},{"year":2018,"cited_by_count":19},{"year":2017,"cited_by_count":17},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":12},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}