{"id":"https://openalex.org/W4413393765","doi":"https://doi.org/10.23919/acc63710.2025.11107578","title":"Lateral and Longitudinal Control of an Autonomous Unicycle*","display_name":"Lateral and Longitudinal Control of an Autonomous Unicycle*","publication_year":2025,"publication_date":"2025-07-08","ids":{"openalex":"https://openalex.org/W4413393765","doi":"https://doi.org/10.23919/acc63710.2025.11107578"},"language":"en","primary_location":{"id":"doi:10.23919/acc63710.2025.11107578","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107578","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://real.mtak.hu/224617/1/ACC25_vizi_invpaper.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086053460","display_name":"M\u00e1t\u00e9 Benj\u00e1min Vizi","orcid":"https://orcid.org/0000-0001-7372-1296"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"M\u00e1t\u00e9 B. Vizi","raw_affiliation_strings":["University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48109"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043415749","display_name":"G\u00e1bor Orosz","orcid":"https://orcid.org/0000-0002-9000-3736"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G\u00e1bor Orosz","raw_affiliation_strings":["University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48109"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073544503","display_name":"D\u00e9nes Tak\u00e1cs","orcid":"https://orcid.org/0000-0003-1226-8613"},"institutions":[{"id":"https://openalex.org/I29770179","display_name":"Budapest University of Technology and Economics","ror":"https://ror.org/02w42ss30","country_code":"HU","type":"education","lineage":["https://openalex.org/I29770179"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"D\u00e9nes Tak\u00e1cs","raw_affiliation_strings":["Budapest University of Technology and Economics,Department of Applied Mechanics,Budapest,Hungary"],"affiliations":[{"raw_affiliation_string":"Budapest University of Technology and Economics,Department of Applied Mechanics,Budapest,Hungary","institution_ids":["https://openalex.org/I29770179"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010080709","display_name":"G\u00e1bor St\u00e9p\u00e0n","orcid":"https://orcid.org/0000-0003-0309-2409"},"institutions":[{"id":"https://openalex.org/I29770179","display_name":"Budapest University of Technology and Economics","ror":"https://ror.org/02w42ss30","country_code":"HU","type":"education","lineage":["https://openalex.org/I29770179"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"G\u00e1bor St\u00e9p\u00e1n","raw_affiliation_strings":["Budapest University of Technology and Economics,Department of Applied Mechanics,Budapest,Hungary"],"affiliations":[{"raw_affiliation_string":"Budapest University of Technology and Economics,Department of Applied Mechanics,Budapest,Hungary","institution_ids":["https://openalex.org/I29770179"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5086053460"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":0.6651,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.72852348,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4224","last_page":"4229"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9904999732971191,"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"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9904999732971191,"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/computer-science","display_name":"Computer science","score":0.5091084837913513},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4995608329772949},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.483124703168869},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16528168320655823}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5091084837913513},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4995608329772949},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.483124703168869},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16528168320655823}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/acc63710.2025.11107578","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107578","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:real.mtak.hu:224617","is_oa":true,"landing_page_url":null,"pdf_url":"https://real.mtak.hu/224617/1/ACC25_vizi_invpaper.pdf","source":{"id":"https://openalex.org/S4306400081","display_name":"Repository of the Academy's Library (Library of the Hungarian Academy of Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210140733","host_organization_name":"Library and Information Centre of the Hungarian Academy of Sciences","host_organization_lineage":["https://openalex.org/I4210140733"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/bookPart"}],"best_oa_location":{"id":"pmh:oai:real.mtak.hu:224617","is_oa":true,"landing_page_url":null,"pdf_url":"https://real.mtak.hu/224617/1/ACC25_vizi_invpaper.pdf","source":{"id":"https://openalex.org/S4306400081","display_name":"Repository of the Academy's Library (Library of the Hungarian Academy of Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210140733","host_organization_name":"Library and Information Centre of the Hungarian Academy of Sciences","host_organization_lineage":["https://openalex.org/I4210140733"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/bookPart"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4413393765.pdf","grobid_xml":"https://content.openalex.org/works/W4413393765.grobid-xml"},"referenced_works_count":11,"referenced_works":["https://openalex.org/W2070659628","https://openalex.org/W2082529298","https://openalex.org/W2116585448","https://openalex.org/W2572276294","https://openalex.org/W2943902952","https://openalex.org/W3172492120","https://openalex.org/W4286375465","https://openalex.org/W4295290392","https://openalex.org/W4384560510","https://openalex.org/W4391582564","https://openalex.org/W4406764093"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Trajectory":[0],"tracking":[1],"with":[2,15],"an":[3],"autonomous":[4],"unicycle":[5],"is":[6,12],"considered":[7],"in":[8],"three-dimensional":[9],"space.":[10],"It":[11],"shown":[13],"that":[14],"the":[16,21,32,54],"appropriate":[17],"choice":[18],"of":[19],"pseudo-velocities":[20],"lateral":[22,43],"and":[23,26,44,47],"longitudinal":[24,45],"dynamics":[25],"control":[27],"can":[28],"be":[29],"decoupled":[30],"at":[31],"linear":[33],"level.":[34],"Linear":[35],"state":[36],"feedback":[37],"controllers":[38,49],"are":[39,50],"designed":[40],"separately":[41],"for":[42,53],"subsystems":[46],"these":[48],"tested":[51],"simultaneously":[52],"nonlinear":[55],"model":[56],"via":[57],"numerical":[58],"simulations.":[59]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
