{"id":"https://openalex.org/W2022454844","doi":"https://doi.org/10.1177/0278364914543481","title":"Controlling many differential-drive robots with uniform control inputs","display_name":"Controlling many differential-drive robots with uniform control inputs","publication_year":2014,"publication_date":"2014-08-29","ids":{"openalex":"https://openalex.org/W2022454844","doi":"https://doi.org/10.1177/0278364914543481","mag":"2022454844"},"language":"en","primary_location":{"id":"doi:10.1177/0278364914543481","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914543481","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/A5062449649","display_name":"Aaron T. Becker","orcid":"https://orcid.org/0000-0001-7614-6282"},"institutions":[{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Aaron Becker","raw_affiliation_strings":["Department of Cardiovascular Surgery, Boston Children\u2019s Hospital and Harvard Medical School, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Cardiovascular Surgery, Boston Children\u2019s Hospital and Harvard Medical School, Boston, MA, USA","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041215161","display_name":"Cem Onyuksel","orcid":null},"institutions":[{"id":"https://openalex.org/I4210121352","display_name":"Western Digital (United States)","ror":"https://ror.org/02hqwnx33","country_code":"US","type":"company","lineage":["https://openalex.org/I4210121352"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cem Onyuksel","raw_affiliation_strings":["Western Digital Corporation, Irvine, CA, USA"],"affiliations":[{"raw_affiliation_string":"Western Digital Corporation, Irvine, CA, USA","institution_ids":["https://openalex.org/I4210121352"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090037830","display_name":"Timothy Bretl","orcid":"https://orcid.org/0000-0001-7883-7300"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Timothy Bretl","raw_affiliation_strings":["Department of Aerospace Engineering, University of Illinois at Urbana\u2013Champaign, Urbana, IL, USA","Department of Aerospace Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace Engineering, University of Illinois at Urbana\u2013Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Aerospace Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021317845","display_name":"James McLurkin","orcid":null},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James McLurkin","raw_affiliation_strings":["Computer Science Department, Rice University, Houston, TX, USA","Computer Science Department, Rice University, Houston, TX, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Computer Science Department, Rice University, Houston, TX, USA#TAB#","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5062449649"],"corresponding_institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"],"apc_list":null,"apc_paid":null,"fwci":4.0885,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.93774895,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"33","issue":"13","first_page":"1626","last_page":"1644"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9897000193595886,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.7786693572998047},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7508599162101746},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6914771795272827},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.5026295185089111},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4644218981266022},{"id":"https://openalex.org/keywords/singular-perturbation","display_name":"Singular perturbation","score":0.45887744426727295},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.44809722900390625},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.44464296102523804},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4300587773323059},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39235320687294006},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.35539835691452026},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27522921562194824},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2651936113834381},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14216825366020203},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09076765179634094}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7786693572998047},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7508599162101746},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6914771795272827},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.5026295185089111},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4644218981266022},{"id":"https://openalex.org/C165160513","wikidata":"https://www.wikidata.org/wiki/Q7524249","display_name":"Singular perturbation","level":2,"score":0.45887744426727295},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.44809722900390625},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.44464296102523804},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4300587773323059},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39235320687294006},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.35539835691452026},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27522921562194824},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2651936113834381},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14216825366020203},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09076765179634094},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364914543481","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914543481","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W161196249","https://openalex.org/W170770739","https://openalex.org/W288445655","https://openalex.org/W612505015","https://openalex.org/W1506809288","https://openalex.org/W1529753904","https://openalex.org/W1551179946","https://openalex.org/W1581560749","https://openalex.org/W1654347349","https://openalex.org/W1966397236","https://openalex.org/W1970989845","https://openalex.org/W1974511160","https://openalex.org/W1975722775","https://openalex.org/W1976962685","https://openalex.org/W1980736842","https://openalex.org/W1983200955","https://openalex.org/W1988628202","https://openalex.org/W1990416424","https://openalex.org/W2001714679","https://openalex.org/W2007212612","https://openalex.org/W2018108785","https://openalex.org/W2021639893","https://openalex.org/W2023850386","https://openalex.org/W2029948740","https://openalex.org/W2036487605","https://openalex.org/W2039301348","https://openalex.org/W2040779745","https://openalex.org/W2042800904","https://openalex.org/W2047706052","https://openalex.org/W2052581702","https://openalex.org/W2063377555","https://openalex.org/W2068079947","https://openalex.org/W2081910485","https://openalex.org/W2089187973","https://openalex.org/W2090954002","https://openalex.org/W2094796932","https://openalex.org/W2102145772","https://openalex.org/W2107770588","https://openalex.org/W2113014755","https://openalex.org/W2114265982","https://openalex.org/W2125188427","https://openalex.org/W2128492772","https://openalex.org/W2133500633","https://openalex.org/W2135051422","https://openalex.org/W2135479785","https://openalex.org/W2135506274","https://openalex.org/W2137003787","https://openalex.org/W2140753922","https://openalex.org/W2145202084","https://openalex.org/W2149129194","https://openalex.org/W2149932547","https://openalex.org/W2153749079","https://openalex.org/W2156477602","https://openalex.org/W2167803192","https://openalex.org/W2168587747","https://openalex.org/W2172227356","https://openalex.org/W2329095262","https://openalex.org/W2556028656","https://openalex.org/W2765691705","https://openalex.org/W4244791762","https://openalex.org/W4245932330","https://openalex.org/W4301438330"],"related_works":["https://openalex.org/W4327639758","https://openalex.org/W1998082046","https://openalex.org/W2116787190","https://openalex.org/W2154304710","https://openalex.org/W2019676381","https://openalex.org/W2387468633","https://openalex.org/W2006371715","https://openalex.org/W2103982267","https://openalex.org/W2065196227","https://openalex.org/W2319944002"],"abstract_inverted_index":{"This":[0],"paper":[1],"derives":[2],"both":[3],"open-loop":[4,47],"and":[5,95],"closed-loop":[6,61],"control":[7,30,93],"policies":[8,71,88],"that":[9,86],"steer":[10],"a":[11,21,37],"finite":[12,53],"set":[13],"of":[14,44,58],"differential-drive":[15],"robots":[16,26],"to":[17,79,92,103],"desired":[18],"positions":[19],"in":[20,52],"two-dimensional":[22],"workspace,":[23],"when":[24],"all":[25],"receive":[27],"the":[28,42,46,56,60],"same":[29],"inputs":[31],"but":[32],"each":[33],"robot":[34],"turns":[35],"at":[36],"slightly":[38],"different":[39],"rate.":[40],"In":[41,55],"absence":[43],"perturbation,":[45,59],"policy":[48,62],"achieves":[49],"zero":[50],"error":[51],"time.":[54],"presence":[57],"is":[63],"globally":[64],"asymptotically":[65],"stabilizing":[66],"with":[67,74],"state":[68],"feedback.":[69],"Both":[70],"were":[72],"validated":[73],"hardware":[75],"experiments":[76],"using":[77],"up":[78],"15":[80],"robots.":[81],"These":[82],"experimental":[83],"results":[84],"suggest":[85],"similar":[87,104],"might":[89],"be":[90],"applied":[91],"micro-":[94],"nanoscale":[96],"robotic":[97],"systems,":[98],"which":[99],"are":[100],"often":[101],"subject":[102],"constraints.":[105]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
