{"id":"https://openalex.org/W1973256573","doi":"https://doi.org/10.1177/0278364906068374","title":"A Framework for the Control of Nonholonomic Mobile Manipulators","display_name":"A Framework for the Control of Nonholonomic Mobile Manipulators","publication_year":2006,"publication_date":"2006-07-12","ids":{"openalex":"https://openalex.org/W1973256573","doi":"https://doi.org/10.1177/0278364906068374","mag":"1973256573"},"language":"en","primary_location":{"id":"doi:10.1177/0278364906068374","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364906068374","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":true,"oa_status":"green","oa_url":"https://inria.hal.science/inria-00070450","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009307840","display_name":"Matthieu Fruchard","orcid":"https://orcid.org/0000-0002-1256-8627"},"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":"Matthieu Fruchard","raw_affiliation_strings":["INRIA 2004, Route des Lucioles, 06902 Sophia-Antipolis Cedex, France","INRIA, 2004, route des Lucioles, 06902 Sophia Antipolis Cedex, France"],"affiliations":[{"raw_affiliation_string":"INRIA 2004, Route des Lucioles, 06902 Sophia-Antipolis Cedex, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"INRIA, 2004, route des Lucioles, 06902 Sophia Antipolis Cedex, France","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"middle","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":false,"raw_author_name":"Pascal Morin","raw_affiliation_strings":["INRIA 2004, Route des Lucioles, 06902 Sophia-Antipolis Cedex, France","INRIA, 2004, route des Lucioles, 06902 Sophia Antipolis Cedex, France"],"affiliations":[{"raw_affiliation_string":"INRIA 2004, Route des Lucioles, 06902 Sophia-Antipolis Cedex, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"INRIA, 2004, route des Lucioles, 06902 Sophia Antipolis Cedex, 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":true,"raw_author_name":"Claude Samson","raw_affiliation_strings":["INRIA 2004, Route des Lucioles, 06902 Sophia-Antipolis Cedex, France,","INRIA, 2004, route des Lucioles, 06902 Sophia Antipolis Cedex, France"],"affiliations":[{"raw_affiliation_string":"INRIA 2004, Route des Lucioles, 06902 Sophia-Antipolis Cedex, France,","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"INRIA, 2004, route des Lucioles, 06902 Sophia Antipolis Cedex, France","institution_ids":["https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5013665591"],"corresponding_institution_ids":["https://openalex.org/I1326498283"],"apc_list":null,"apc_paid":null,"fwci":15.5899,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":{"value":0.98936827,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"25","issue":"8","first_page":"745","last_page":"780"},"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":0.9990000128746033,"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":0.9854000210762024,"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/nonholonomic-system","display_name":"Nonholonomic system","score":0.8469758033752441},{"id":"https://openalex.org/keywords/generality","display_name":"Generality","score":0.7897090315818787},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6472505331039429},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5809674263000488},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5663804411888123},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5602878928184509},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5242776274681091},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4891224503517151},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.4658086895942688},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44941434264183044},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4354471266269684},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4245690107345581},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4133198857307434},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32971474528312683},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3157520294189453},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23723578453063965}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.8469758033752441},{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.7897090315818787},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6472505331039429},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5809674263000488},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5663804411888123},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5602878928184509},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5242776274681091},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4891224503517151},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.4658086895942688},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44941434264183044},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4354471266269684},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4245690107345581},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4133198857307434},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32971474528312683},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3157520294189453},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23723578453063965},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364906068374","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364906068374","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:HAL:inria-00070450v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00070450","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"[Research Report] RR-5556, INRIA. 2005, pp.52","raw_type":"Reports"}],"best_oa_location":{"id":"pmh:oai:HAL:inria-00070450v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00070450","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"[Research Report] RR-5556, INRIA. 2005, pp.52","raw_type":"Reports"},"sustainable_development_goals":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W179828086","https://openalex.org/W299416949","https://openalex.org/W1488735203","https://openalex.org/W1559749952","https://openalex.org/W1564897360","https://openalex.org/W1864838508","https://openalex.org/W1970494767","https://openalex.org/W1971044547","https://openalex.org/W2003078294","https://openalex.org/W2011307039","https://openalex.org/W2036090246","https://openalex.org/W2051155494","https://openalex.org/W2068317958","https://openalex.org/W2117769611","https://openalex.org/W2122513851","https://openalex.org/W2125429711","https://openalex.org/W2138462423","https://openalex.org/W2140031346","https://openalex.org/W2145072404","https://openalex.org/W2154170721","https://openalex.org/W2166642483","https://openalex.org/W2175643442","https://openalex.org/W2565210018","https://openalex.org/W2993376333","https://openalex.org/W3217246742","https://openalex.org/W4206820429","https://openalex.org/W4248446246"],"related_works":["https://openalex.org/W71119328","https://openalex.org/W4249701897","https://openalex.org/W2147558862","https://openalex.org/W2020829486","https://openalex.org/W2044054821","https://openalex.org/W2016451691","https://openalex.org/W2165308390","https://openalex.org/W2376571261","https://openalex.org/W2351261275","https://openalex.org/W2155201064"],"abstract_inverted_index":{"A":[0],"general":[1],"framework":[2],"for":[3,36,78,89,129],"the":[4,37,40,45,69,85,97,101,111,117],"feedback":[5,80],"control":[6,81,102],"of":[7,27,39,104,116],"mobile":[8,31],"manipulators":[9],"is":[10,59,75,87],"proposed.":[11],"Its":[12],"main":[13],"originality":[14],"lies":[15],"in":[16,21,84,100],"its":[17,49,123],"capacity":[18],"to":[19,63,125],"address":[20],"a":[22,105],"unified":[23],"manner":[24],"both":[25],"cases":[26],"omnidirectional":[28,107],"and":[29,132],"nonholonomic":[30,70,127],"platforms.":[32],"It":[33,94],"also":[34],"allows":[35],"execution":[38],"desired":[41],"manipulation":[42],"task":[43],"without":[44,61],"manipulator":[46],"colliding":[47],"into":[48],"joint":[50],"limits,":[51],"whenever":[52],"these":[53],"two":[54],"objectives":[55],"are":[56],"compatible.":[57],"This":[58],"obtained":[60],"having":[62],"rely":[64],"upon":[65,96],"trajectory":[66],"planning.":[67],"In":[68],"case":[71],"this":[72],"feature,":[73],"which":[74],"not":[76],"demonstrated":[77],"previous":[79],"schemes":[82],"proposed":[83],"literature,":[86],"instrumental":[88],"performing":[90],"reflex":[91],"maneuvers":[92],"automatically.":[93],"relies":[95],"concept,":[98],"used":[99],"design,":[103],"companion":[106],"frame":[108],"associated":[109],"with":[110],"physical":[112],"platform.":[113],"The":[114],"generality":[115],"approach":[118],"can":[119],"be":[120],"appreciated":[121],"from":[122],"applicability":[124],"various":[126],"platforms,":[128],"example":[130],"unicycle-type":[131],"car-like.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}