{"id":"https://openalex.org/W4386142399","doi":"https://doi.org/10.3390/robotics12050122","title":"Leader\u2013Follower Formation and Disturbance Rejection Control for Omnidirectional Mobile Robots","display_name":"Leader\u2013Follower Formation and Disturbance Rejection Control for Omnidirectional Mobile Robots","publication_year":2023,"publication_date":"2023-08-24","ids":{"openalex":"https://openalex.org/W4386142399","doi":"https://doi.org/10.3390/robotics12050122"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12050122","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12050122","pdf_url":"https://www.mdpi.com/2218-6581/12/5/122/pdf?version=1692841829","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/12/5/122/pdf?version=1692841829","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024323175","display_name":"Mario Ram\u00edrez\u2010Neria","orcid":"https://orcid.org/0000-0001-5935-9083"},"institutions":[{"id":"https://openalex.org/I205571821","display_name":"Ibero American University","ror":"https://ror.org/05vss7635","country_code":"MX","type":"education","lineage":["https://openalex.org/I205571821"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Mario Ram\u00edrez-Neria","raw_affiliation_strings":["Institute of Applied Research and Technology, Universidad Iberoamericana Ciudad de M\u00e9xico, Prolongaci\u00f3n Paseo de la Reforma 880, Colonia Lomas de Santa Fe, Mexico City 01219, Mexico"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Research and Technology, Universidad Iberoamericana Ciudad de M\u00e9xico, Prolongaci\u00f3n Paseo de la Reforma 880, Colonia Lomas de Santa Fe, Mexico City 01219, Mexico","institution_ids":["https://openalex.org/I205571821"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087154444","display_name":"Jaime Gonz\u00e1lez\u2010Sierra","orcid":"https://orcid.org/0000-0001-9141-0061"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Jaime Gonz\u00e1lez-Sierra","raw_affiliation_strings":["Unidad Profesional Interdisciplinaria de Ingenier\u00eda Campus Hidalgo, Instituto Polit\u00e9cnico Nacional, Carretera Pachuca\u2014Actopan Kil\u00f3metro 1+500, Distrito de Educaci\u00f3n, Salud, Ciencia, Tecnolog\u00eda e Innovaci\u00f3n, San Agust\u00edn Tlaxiaca 42162, Mexico"],"affiliations":[{"raw_affiliation_string":"Unidad Profesional Interdisciplinaria de Ingenier\u00eda Campus Hidalgo, Instituto Polit\u00e9cnico Nacional, Carretera Pachuca\u2014Actopan Kil\u00f3metro 1+500, Distrito de Educaci\u00f3n, Salud, Ciencia, Tecnolog\u00eda e Innovaci\u00f3n, San Agust\u00edn Tlaxiaca 42162, Mexico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040423326","display_name":"Rafa\u0142 Mado\u0144ski","orcid":"https://orcid.org/0000-0002-1798-0717"},"institutions":[{"id":"https://openalex.org/I119004910","display_name":"Silesian University of Technology","ror":"https://ror.org/02dyjk442","country_code":"PL","type":"education","lineage":["https://openalex.org/I119004910"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Rafal Madonski","raw_affiliation_strings":["Faculty of Automatic Control, Electronics and Computer Science, Silesian University of Technology, 44-100 Gliwice, Poland"],"affiliations":[{"raw_affiliation_string":"Faculty of Automatic Control, Electronics and Computer Science, Silesian University of Technology, 44-100 Gliwice, Poland","institution_ids":["https://openalex.org/I119004910"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065511029","display_name":"Rodrigo Ram\u00edrez-Ju\u00e1rez","orcid":"https://orcid.org/0009-0004-6226-0569"},"institutions":[{"id":"https://openalex.org/I4210093304","display_name":"Universidad de Cuautitl\u00e1n Izcalli","ror":"https://ror.org/00nrr4d03","country_code":"MX","type":"education","lineage":["https://openalex.org/I4210093304"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Rodrigo Ram\u00edrez-Ju\u00e1rez","raw_affiliation_strings":["FESC-C4-UNAM Carr. Cuautitl\u00e1n-Teoloyucan K.M 2.5, Cuautitl\u00e1n Izcalli 54714, Mexico"],"affiliations":[{"raw_affiliation_string":"FESC-C4-UNAM Carr. Cuautitl\u00e1n-Teoloyucan K.M 2.5, Cuautitl\u00e1n Izcalli 54714, Mexico","institution_ids":["https://openalex.org/I4210093304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003688475","display_name":"E. G. Hern\u00e1ndez-Mart\u00ednez","orcid":"https://orcid.org/0000-0002-2716-6196"},"institutions":[{"id":"https://openalex.org/I205571821","display_name":"Ibero American University","ror":"https://ror.org/05vss7635","country_code":"MX","type":"education","lineage":["https://openalex.org/I205571821"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Eduardo Gamaliel Hernandez-Martinez","raw_affiliation_strings":["Institute of Applied Research and Technology, Universidad Iberoamericana Ciudad de M\u00e9xico, Prolongaci\u00f3n Paseo de la Reforma 880, Colonia Lomas de Santa Fe, Mexico City 01219, Mexico"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Research and Technology, Universidad Iberoamericana Ciudad de M\u00e9xico, Prolongaci\u00f3n Paseo de la Reforma 880, Colonia Lomas de Santa Fe, Mexico City 01219, Mexico","institution_ids":["https://openalex.org/I205571821"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065329018","display_name":"Guillermo Fern\u00e1ndez\u2010Anaya","orcid":"https://orcid.org/0000-0002-9695-3409"},"institutions":[{"id":"https://openalex.org/I205571821","display_name":"Ibero American University","ror":"https://ror.org/05vss7635","country_code":"MX","type":"education","lineage":["https://openalex.org/I205571821"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Guillermo Fern\u00e1ndez-Anaya","raw_affiliation_strings":["Physics and Mathematical Department, Universidad Iberoamericana Ciudad de M\u00e9xico, Prolongaci\u00f3n Paseo de la Reforma 880, Colonia Lomas de Santa Fe, Mexico City 01219, Mexico"],"affiliations":[{"raw_affiliation_string":"Physics and Mathematical Department, Universidad Iberoamericana Ciudad de M\u00e9xico, Prolongaci\u00f3n Paseo de la Reforma 880, Colonia Lomas de Santa Fe, Mexico City 01219, Mexico","institution_ids":["https://openalex.org/I205571821"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5087154444"],"corresponding_institution_ids":["https://openalex.org/I59361560"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":2.404,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.8949647,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"12","issue":"5","first_page":"122","last_page":"122"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9952999949455261,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9925000071525574,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.729649007320404},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7278574109077454},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6997272968292236},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6084922552108765},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5738656520843506},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5734066367149353},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5641221404075623},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5124859809875488},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.491164892911911},{"id":"https://openalex.org/keywords/active-disturbance-rejection-control","display_name":"Active disturbance rejection control","score":0.45585426688194275},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45517778396606445},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.42283207178115845},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35578256845474243},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3154459595680237},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2516038715839386},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.20470216870307922},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09086933732032776},{"id":"https://openalex.org/keywords/antenna","display_name":"Antenna (radio)","score":0.07823783159255981}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.729649007320404},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7278574109077454},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6997272968292236},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6084922552108765},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5738656520843506},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5734066367149353},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5641221404075623},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5124859809875488},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.491164892911911},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.45585426688194275},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45517778396606445},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.42283207178115845},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35578256845474243},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3154459595680237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2516038715839386},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.20470216870307922},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09086933732032776},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.07823783159255981},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics12050122","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12050122","pdf_url":"https://www.mdpi.com/2218-6581/12/5/122/pdf?version=1692841829","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:f39b4bd9496242d9bf5d44fd1cd30a79","is_oa":true,"landing_page_url":"https://doaj.org/article/f39b4bd9496242d9bf5d44fd1cd30a79","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 12, Iss 5, p 122 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/12/5/122/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics12050122","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 12; Issue 5; Pages: 122","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics12050122","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12050122","pdf_url":"https://www.mdpi.com/2218-6581/12/5/122/pdf?version=1692841829","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8199999928474426}],"awards":[{"id":"https://openalex.org/G2775073708","display_name":null,"funder_award_id":"DINVP-025","funder_id":"https://openalex.org/F4320310986","funder_display_name":"Universidad Iberoamericana Ciudad de M\u00e9xico"},{"id":"https://openalex.org/G60562541","display_name":null,"funder_award_id":"20230121","funder_id":"https://openalex.org/F4320321694","funder_display_name":"Instituto Polit\u00e9cnico Nacional"}],"funders":[{"id":"https://openalex.org/F4320310986","display_name":"Universidad Iberoamericana Ciudad de M\u00e9xico","ror":"https://ror.org/05vss7635"},{"id":"https://openalex.org/F4320321694","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386142399.pdf"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W1503019334","https://openalex.org/W1515771711","https://openalex.org/W1558647590","https://openalex.org/W1596995151","https://openalex.org/W1981826826","https://openalex.org/W1991936423","https://openalex.org/W2030766545","https://openalex.org/W2097696157","https://openalex.org/W2135493101","https://openalex.org/W2142370959","https://openalex.org/W2167040191","https://openalex.org/W2322022163","https://openalex.org/W2327893553","https://openalex.org/W2343487611","https://openalex.org/W2467745839","https://openalex.org/W2602742025","https://openalex.org/W2609810671","https://openalex.org/W2755499518","https://openalex.org/W2770232291","https://openalex.org/W2787598022","https://openalex.org/W2787645884","https://openalex.org/W2789715205","https://openalex.org/W2794441464","https://openalex.org/W2884301382","https://openalex.org/W2896252154","https://openalex.org/W2898697466","https://openalex.org/W2910151542","https://openalex.org/W2917136374","https://openalex.org/W2921914043","https://openalex.org/W2932220476","https://openalex.org/W2966147032","https://openalex.org/W3007913606","https://openalex.org/W3008804564","https://openalex.org/W3034580387","https://openalex.org/W3041188842","https://openalex.org/W3096656822","https://openalex.org/W3123754556","https://openalex.org/W3126389044","https://openalex.org/W3159447898","https://openalex.org/W3176616755","https://openalex.org/W4200412582","https://openalex.org/W4242098452","https://openalex.org/W4318310533","https://openalex.org/W4327950116","https://openalex.org/W4328007669","https://openalex.org/W4382936296"],"related_works":["https://openalex.org/W2983277893","https://openalex.org/W4390418748","https://openalex.org/W3197475526","https://openalex.org/W1941703695","https://openalex.org/W2750844959","https://openalex.org/W2546873414","https://openalex.org/W1668350285","https://openalex.org/W2979398413","https://openalex.org/W1532677580","https://openalex.org/W2386719143"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,27,34,57,67,110,118,135,142,152],"distance-based":[4],"formation":[5,38,52],"control":[6,18,80,92,132],"strategy":[7],"with":[8,109,158],"real-time":[9],"disturbance":[10,90],"rejection":[11,91],"for":[12,84,155],"omnidirectional":[13],"mobile":[14],"robots.":[15],"The":[16],"introduced":[17],"algorithm":[19],"is":[20,54,82,123,139,150],"designed":[21,83],"such":[22],"that":[23],"the":[24,31,41,44,47,63,79,88,99,114,127,130],"leader":[25],"tracks":[26],"desired":[28,35],"trajectory":[29],"while":[30],"follower":[32],"keeps":[33],"distance":[36,50],"and":[37,51,102],"angle":[39,53],"concerning":[40],"leader.":[42],"In":[43,146],"first":[45],"step,":[46],"evolution":[48],"of":[49,62,120,129,144],"obtained":[55],"from":[56],"perturbed":[58],"second-order":[59],"dynamic":[60],"model":[61],"robot,":[64],"aided":[65],"by":[66],"general":[68],"proportional":[69],"integral":[70],"observer":[71],"(GPIO),":[72],"added":[73],"to":[74,125],"estimate":[75],"unwanted":[76],"disturbances.":[77],"Then,":[78],"law":[81],"both":[85],"robots":[86],"via":[87],"active":[89],"(ADRC)":[93],"methodology,":[94],"which":[95],"only":[96],"depends":[97],"on":[98],"position,":[100],"distance,":[101],"orientation":[103],"measurements.":[104],"A":[105],"numerical":[106],"simulation":[107],"compared":[108],"robust":[111],"controller":[112],"exhibits":[113],"system\u2019s":[115],"behavior.":[116],"Furthermore,":[117],"set":[119],"laboratory":[121],"experiments":[122],"conducted":[124],"verify":[126],"performance":[128],"proposed":[131],"system,":[133],"where":[134],"motion":[136],"capture":[137],"system":[138],"used":[140],"as":[141],"proof":[143],"concept.":[145],"this":[147,149],"context,":[148],"considered":[151],"previous":[153],"step":[154],"further":[156],"experimentation":[157],"onboard":[159],"sensors.":[160]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-02-28T09:26:25.869077","created_date":"2025-10-10T00:00:00"}
