{"id":"https://openalex.org/W2146449764","doi":"https://doi.org/10.1177/027836499701600608","title":"Model-Based Planar Contour Following in the Presence of Pose and Model Errors","display_name":"Model-Based Planar Contour Following in the Presence of Pose and Model Errors","publication_year":1997,"publication_date":"1997-12-01","ids":{"openalex":"https://openalex.org/W2146449764","doi":"https://doi.org/10.1177/027836499701600608","mag":"2146449764"},"language":"en","primary_location":{"id":"doi:10.1177/027836499701600608","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499701600608","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/A5107856393","display_name":"Sabine Demey","orcid":null},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Sabine Demey","raw_affiliation_strings":["Katholieke Universiteit Leuven Department of Mechanical Engineering, Division PMA Celestijnenlaan 300B, B-3001 Heverlee, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Katholieke Universiteit Leuven Department of Mechanical Engineering, Division PMA Celestijnenlaan 300B, B-3001 Heverlee, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009116988","display_name":"Herman Bruyninckx","orcid":"https://orcid.org/0000-0003-3776-1025"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Herman Bruyninckx","raw_affiliation_strings":["Katholieke Universiteit Leuven Department of Mechanical Engineering, Division PMA Celestijnenlaan 300B, B-3001 Heverlee, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Katholieke Universiteit Leuven Department of Mechanical Engineering, Division PMA Celestijnenlaan 300B, B-3001 Heverlee, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006282526","display_name":"Joris De Schutter","orcid":"https://orcid.org/0000-0001-9619-5815"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Joris De Schutter","raw_affiliation_strings":["Katholieke Universiteit Leuven Department of Mechanical Engineering, Division PMA Celestijnenlaan 300B, B-3001 Heverlee, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Katholieke Universiteit Leuven Department of Mechanical Engineering, Division PMA Celestijnenlaan 300B, B-3001 Heverlee, Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99464096"],"apc_list":null,"apc_paid":null,"fwci":2.3556,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.88952609,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"16","issue":"6","first_page":"840","last_page":"858"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9898999929428101,"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/frenet\u2013serret-formulas","display_name":"Frenet\u2013Serret formulas","score":0.6571730375289917},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6562444567680359},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.6492983102798462},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5865778923034668},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.5801631808280945},{"id":"https://openalex.org/keywords/tangent","display_name":"Tangent","score":0.5526868104934692},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5345126390457153},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4951077997684479},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.46216675639152527},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.45765626430511475},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39796698093414307},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3623409867286682},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.29809775948524475},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1577797830104828}],"concepts":[{"id":"https://openalex.org/C162546045","wikidata":"https://www.wikidata.org/wiki/Q947922","display_name":"Frenet\u2013Serret formulas","level":3,"score":0.6571730375289917},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6562444567680359},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.6492983102798462},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5865778923034668},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.5801631808280945},{"id":"https://openalex.org/C138187205","wikidata":"https://www.wikidata.org/wiki/Q131251","display_name":"Tangent","level":2,"score":0.5526868104934692},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5345126390457153},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4951077997684479},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.46216675639152527},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.45765626430511475},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39796698093414307},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3623409867286682},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.29809775948524475},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1577797830104828}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/027836499701600608","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499701600608","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":[{"display_name":"Sustainable cities and communities","score":0.4000000059604645,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W172785069","https://openalex.org/W304861154","https://openalex.org/W1542394013","https://openalex.org/W1559070872","https://openalex.org/W1569094508","https://openalex.org/W1646998587","https://openalex.org/W1859807635","https://openalex.org/W1863232835","https://openalex.org/W1893902493","https://openalex.org/W1931582241","https://openalex.org/W1965324089","https://openalex.org/W1975168730","https://openalex.org/W1985995825","https://openalex.org/W1989914875","https://openalex.org/W1993671632","https://openalex.org/W1997520484","https://openalex.org/W1999251931","https://openalex.org/W2003355198","https://openalex.org/W2009714304","https://openalex.org/W2021142183","https://openalex.org/W2049002247","https://openalex.org/W2051205761","https://openalex.org/W2051903196","https://openalex.org/W2057630298","https://openalex.org/W2069139112","https://openalex.org/W2076133339","https://openalex.org/W2077546051","https://openalex.org/W2083106697","https://openalex.org/W2083402998","https://openalex.org/W2087070363","https://openalex.org/W2091101420","https://openalex.org/W2093994883","https://openalex.org/W2105660272","https://openalex.org/W2108140259","https://openalex.org/W2118104180","https://openalex.org/W2123915457","https://openalex.org/W2151321259","https://openalex.org/W2154442855","https://openalex.org/W2156591439","https://openalex.org/W2157289347","https://openalex.org/W2236623899","https://openalex.org/W2322427245","https://openalex.org/W2519716569","https://openalex.org/W2911621961","https://openalex.org/W3142707146","https://openalex.org/W3146424478","https://openalex.org/W4205619206","https://openalex.org/W4244954193","https://openalex.org/W4247379505","https://openalex.org/W6639180752"],"related_works":["https://openalex.org/W2890994448","https://openalex.org/W2101224588","https://openalex.org/W2043268301","https://openalex.org/W3214410636","https://openalex.org/W1976561797","https://openalex.org/W2188508312","https://openalex.org/W2075234962","https://openalex.org/W2322137306","https://openalex.org/W2013485381","https://openalex.org/W2924479417"],"abstract_inverted_index":{"This":[0,96],"article":[1,129],"shows":[2],"how":[3],"the":[4,32,40,47,50,54,71,87,101,104,109,116,145,150,171,175,184,190,193,224,237],"use":[5],"of":[6,34,46,70,77,100,174,192,199,217,236],"a":[7,15,20,75,131,211],"geometric":[8],"model":[9,37,105,117],"during":[10,210],"planar":[11],"contour":[12,48,55,63],"following":[13],"with":[14,93,138,179],"force-controlled":[16],"robot":[17],"results":[18],"in":[19,31,60,103,241],"higher":[21],"quality":[22],"(i.e.,":[23,42],"faster":[24],"and/or":[25,68],"more":[26],"accurate)":[27],"task":[28],"execution,":[29],"even":[30],"presence":[33],"pose":[35,41],"and":[36,44,90,149,168,234],"errors.":[38],"Neither":[39],"position":[43],"orientation)":[45],"nor":[49],"starting":[51],"point":[52,102],"on":[53,144,159,208,223],"have":[56],"to":[57,108,121],"be":[58],"known":[59],"advance.":[61],"The":[62,80,113,128,215],"is":[64,83,118,156,202,221],"described":[65],"by":[66],"curvature":[67,114],"orientation":[69,191,235],"normal":[72,194,238],"direction,":[73],"as":[74],"function":[76],"arc":[78,232],"length.":[79],"con":[81],"tour":[82],"identified":[84],"on-line":[85,92],"from":[86,115],"sensor":[88],"measurements,":[89],"matched":[91],"its":[94],"model.":[95],"yields":[97],"an":[98],"estimate":[99],"that":[106],"corresponds":[107],"real":[110],"contact":[111],"point.":[112],"then":[119],"used":[120],"generate":[122],"feed-":[123],"forward":[124],"velocity":[125],"set":[126],"points.":[127],"compares":[130],"nonrecursive":[132],"deterministic":[133],"least-":[134],"squares":[135],"matching":[136,141,206],"strategy":[137,188],"recursive":[139],"stochastic":[140],"strategies,":[142],"based":[143,158,207,222],"extended":[146,185],"Kalman":[147],"filter":[148,187],"Page-":[151],"Hinkley":[152],"hypothesis":[153],"test.":[154],"Matching":[155],"preferably":[157],"cur":[160],"vature":[161],"profiles,":[162],"since":[163],"these":[164,200],"are":[165,239],"Euclidean":[166],"invariant":[167],"hence":[169],"reduce":[170],"search":[172],"space":[173],"matching.":[176],"On":[177],"contours":[178],"piecewise":[180],"constant":[181],"curvature,":[182],"however,":[183],"Kalman-":[186],"uses":[189],"direction.":[195],"Extensive":[196],"experimental":[197],"evaluation":[198],"strategies":[201],"given,":[203],"including":[204],"shape":[205],"data":[209],"deburring":[212],"task.":[213],"1.":[214],"definition":[216],"this":[218],"tangent":[219],"frame":[220],"Frenet":[225],"frame;":[226],"see":[227],"Section":[228,242],"2.1.":[229,243],"2.":[230],"Curvature,":[231],"length,":[233],"defined":[240]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
