{"id":"https://openalex.org/W2052726419","doi":"https://doi.org/10.1177/027836499401300606","title":"Path-tracking for a Tractor-Trailer-like Robot","display_name":"Path-tracking for a Tractor-Trailer-like Robot","publication_year":1994,"publication_date":"1994-12-01","ids":{"openalex":"https://openalex.org/W2052726419","doi":"https://doi.org/10.1177/027836499401300606","mag":"2052726419"},"language":"en","primary_location":{"id":"doi:10.1177/027836499401300606","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499401300606","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/A5030991959","display_name":"R.M. DeSantis","orcid":null},"institutions":[{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"R.M. DeSantis","raw_affiliation_strings":["Electrical and Computer Engineering Department Ecole Polytechnique de Montr\u00e9al Montreal, Quebec, Canada, H3C 3A7"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Department Ecole Polytechnique de Montr\u00e9al Montreal, Quebec, Canada, H3C 3A7","institution_ids":["https://openalex.org/I45683168"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5030991959"],"corresponding_institution_ids":["https://openalex.org/I45683168"],"apc_list":null,"apc_paid":null,"fwci":4.2989,"has_fulltext":false,"cited_by_count":86,"citation_normalized_percentile":{"value":0.93885133,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"13","issue":"6","first_page":"533","last_page":"544"},"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":0.9998000264167786,"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":0.9998000264167786,"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":0.9979000091552734,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/control-theory","display_name":"Control theory (sociology)","score":0.7144901156425476},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.6347171068191528},{"id":"https://openalex.org/keywords/trailer","display_name":"Trailer","score":0.5585892200469971},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5357619524002075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5036882758140564},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5007939338684082},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4817535877227783},{"id":"https://openalex.org/keywords/articulated-vehicle","display_name":"Articulated vehicle","score":0.476033478975296},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4581453204154968},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4444623291492462},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.42590951919555664},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4120092988014221},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40331941843032837},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.30865058302879333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26253634691238403},{"id":"https://openalex.org/keywords/truck","display_name":"Truck","score":0.12475672364234924},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11982902884483337},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.10023590922355652},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0983191430568695},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06661531329154968}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7144901156425476},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.6347171068191528},{"id":"https://openalex.org/C2779101595","wikidata":"https://www.wikidata.org/wiki/Q7832787","display_name":"Trailer","level":2,"score":0.5585892200469971},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5357619524002075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5036882758140564},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5007939338684082},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4817535877227783},{"id":"https://openalex.org/C56691938","wikidata":"https://www.wikidata.org/wiki/Q1411533","display_name":"Articulated vehicle","level":3,"score":0.476033478975296},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4581453204154968},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4444623291492462},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.42590951919555664},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4120092988014221},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40331941843032837},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30865058302879333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26253634691238403},{"id":"https://openalex.org/C52121051","wikidata":"https://www.wikidata.org/wiki/Q43193","display_name":"Truck","level":2,"score":0.12475672364234924},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11982902884483337},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.10023590922355652},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0983191430568695},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06661531329154968},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/027836499401300606","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499401300606","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:publications.polymtl.ca:33395","is_oa":false,"landing_page_url":"https://publications.polymtl.ca/33395/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401013","display_name":"PolyPublie (\u00c9cole Polytechnique de Montr\u00e9al)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45683168","host_organization_name":"Polytechnique Montr\u00e9al","host_organization_lineage":["https://openalex.org/I45683168"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article de revue"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W83533993","https://openalex.org/W101508493","https://openalex.org/W1534096605","https://openalex.org/W1556694669","https://openalex.org/W1557098279","https://openalex.org/W1775521486","https://openalex.org/W1864976907","https://openalex.org/W1936189409","https://openalex.org/W1969998301","https://openalex.org/W1981424476","https://openalex.org/W1983687560","https://openalex.org/W2013268517","https://openalex.org/W2069090754","https://openalex.org/W2087158035","https://openalex.org/W2097833421","https://openalex.org/W2113640862","https://openalex.org/W2133066324","https://openalex.org/W2144956717","https://openalex.org/W2166586069","https://openalex.org/W2312644716","https://openalex.org/W2600643276","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W85000515","https://openalex.org/W652468396","https://openalex.org/W2246352041","https://openalex.org/W58835972","https://openalex.org/W758062354","https://openalex.org/W4251749649","https://openalex.org/W3175006268","https://openalex.org/W4244324943","https://openalex.org/W1568602033","https://openalex.org/W3202865085"],"abstract_inverted_index":{"Path-tracking":[0],"controllers":[1],"for":[2,16,44],"tractor-trailer-like":[3],"robots":[4],"are":[5],"de":[6],"signed":[7],"by":[8,22,35,61],"generalizing":[9],"the":[10,25,70],"geometric":[11],"path-tracking":[12,57],"approach":[13],"currently":[14],"adopted":[15],"car-like":[17],"robots.":[18],"This":[19],"is":[20,42],"done":[21],"formaliz":[23],"ing":[24],"concepts":[26],"of":[27,63,72],"speed":[28],"and":[29,31,34,67,82],"lateral":[30],"heading":[32],"offsets":[33],"assuming":[36],"slippage-free":[37],"motion.":[38],"The":[39],"main":[40],"result":[41],"that":[43],"straight-line":[45],"or":[46],"circular-arc":[47],"paths":[48],"to":[49],"be":[50,59,75],"tracked":[51],"with":[52],"a":[53,64],"con":[54],"stant":[55],"velocity,":[56],"may":[58,74],"ensured":[60],"means":[62],"linear,":[65],"time-invariant,":[66],"decoupled":[68],"controller,":[69],"gains":[71],"which":[73],"determined":[76],"using":[77],"familiar":[78],"proportional-integral-":[79],"derivative":[80],"(PID)":[81],"state-feedback":[83],"techniques.":[84]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}