{"id":"https://openalex.org/W4413811521","doi":"https://doi.org/10.3390/robotics14090120","title":"Co-Simulation Model of an Autonomous Driving Rover for Agricultural Applications","display_name":"Co-Simulation Model of an Autonomous Driving Rover for Agricultural Applications","publication_year":2025,"publication_date":"2025-08-29","ids":{"openalex":"https://openalex.org/W4413811521","doi":"https://doi.org/10.3390/robotics14090120"},"language":"en","primary_location":{"id":"doi:10.3390/robotics14090120","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14090120","pdf_url":"https://www.mdpi.com/2218-6581/14/9/120/pdf?version=1756469153","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/2218-6581/14/9/120/pdf?version=1756469153","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082593101","display_name":"Salvatore Martelli","orcid":"https://orcid.org/0000-0002-4973-1627"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Salvatore Martelli","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Turin, Italy"],"raw_orcid":"https://orcid.org/0000-0002-4973-1627","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021138039","display_name":"Valerio Martini","orcid":"https://orcid.org/0000-0002-2605-2488"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Valerio Martini","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Turin, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2605-2488","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013569772","display_name":"Francesco Mocera","orcid":"https://orcid.org/0000-0003-2984-8155"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Francesco Mocera","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Turin, Italy"],"raw_orcid":"https://orcid.org/0000-0003-2984-8155","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060169443","display_name":"Aurelio Som\u00e0","orcid":"https://orcid.org/0000-0002-1111-3305"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Aurelio Soma\u2019","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Turin, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1111-3305","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5013569772","https://openalex.org/A5082593101"],"corresponding_institution_ids":["https://openalex.org/I177477856"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":2.9417,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.90819339,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"14","issue":"9","first_page":"120","last_page":"120"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10616","display_name":"Smart Agriculture and AI","score":0.9394999742507935,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12201","display_name":"Agricultural Engineering and Mechanization","score":0.9315999746322632,"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/agriculture","display_name":"Agriculture","score":0.5065516233444214},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.44745203852653503},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43582648038864136},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39503368735313416},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.37489932775497437},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3648398816585541},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3478708863258362},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.20863690972328186},{"id":"https://openalex.org/keywords/archaeology","display_name":"Archaeology","score":0.06153550744056702}],"concepts":[{"id":"https://openalex.org/C118518473","wikidata":"https://www.wikidata.org/wiki/Q11451","display_name":"Agriculture","level":2,"score":0.5065516233444214},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.44745203852653503},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43582648038864136},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39503368735313416},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.37489932775497437},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3648398816585541},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3478708863258362},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.20863690972328186},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.06153550744056702}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics14090120","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14090120","pdf_url":"https://www.mdpi.com/2218-6581/14/9/120/pdf?version=1756469153","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:c0b900a972f64ba2aac5040b51ff1698","is_oa":true,"landing_page_url":"https://doaj.org/article/c0b900a972f64ba2aac5040b51ff1698","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 14, Iss 9, p 120 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics14090120","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14090120","pdf_url":"https://www.mdpi.com/2218-6581/14/9/120/pdf?version=1756469153","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":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4413811521.pdf","grobid_xml":"https://content.openalex.org/works/W4413811521.grobid-xml"},"referenced_works_count":60,"referenced_works":["https://openalex.org/W1156733901","https://openalex.org/W1609587194","https://openalex.org/W2039746681","https://openalex.org/W2041448245","https://openalex.org/W2059005749","https://openalex.org/W2070552428","https://openalex.org/W2095301483","https://openalex.org/W2134638269","https://openalex.org/W2402690890","https://openalex.org/W2511063450","https://openalex.org/W2752311604","https://openalex.org/W2778784665","https://openalex.org/W2792270562","https://openalex.org/W2802952310","https://openalex.org/W2894880713","https://openalex.org/W2901034080","https://openalex.org/W2923863394","https://openalex.org/W2967584944","https://openalex.org/W2982472577","https://openalex.org/W2984073048","https://openalex.org/W3006176888","https://openalex.org/W3015801692","https://openalex.org/W3044496128","https://openalex.org/W3087710682","https://openalex.org/W3087726520","https://openalex.org/W3088723547","https://openalex.org/W3119192216","https://openalex.org/W3136130522","https://openalex.org/W3164665520","https://openalex.org/W3173228769","https://openalex.org/W3201700785","https://openalex.org/W4205717077","https://openalex.org/W4221070427","https://openalex.org/W4224098253","https://openalex.org/W4230229149","https://openalex.org/W4238545949","https://openalex.org/W4282027540","https://openalex.org/W4296365386","https://openalex.org/W4297283207","https://openalex.org/W4309729332","https://openalex.org/W4378191241","https://openalex.org/W4380201938","https://openalex.org/W4385275134","https://openalex.org/W4385759708","https://openalex.org/W4388583379","https://openalex.org/W4390655356","https://openalex.org/W4390810698","https://openalex.org/W4391930351","https://openalex.org/W4392387298","https://openalex.org/W4394897874","https://openalex.org/W4399883325","https://openalex.org/W4401494557","https://openalex.org/W4401692938","https://openalex.org/W4402353556","https://openalex.org/W4402520880","https://openalex.org/W4404028897","https://openalex.org/W4404528072","https://openalex.org/W4404534682","https://openalex.org/W4406780167","https://openalex.org/W4408769038"],"related_works":["https://openalex.org/W2355956201","https://openalex.org/W2327874825","https://openalex.org/W2386195957","https://openalex.org/W2351852648","https://openalex.org/W2613051533","https://openalex.org/W2349774843","https://openalex.org/W2775541961","https://openalex.org/W2267286817","https://openalex.org/W4294170338","https://openalex.org/W2372580072"],"abstract_inverted_index":{"The":[0,133],"implementation":[1],"of":[2,22,26,29,63,69,82,104,110,166,200,207,217],"autonomous":[3,33,52],"rovers":[4],"in":[5,87,146,215],"agriculture":[6],"could":[7],"be":[8],"a":[9,66,79,125,163,196,204,237],"promising":[10],"solution":[11],"to":[12,95,141,187,229],"ensure,":[13],"at":[14,155],"the":[15,23,37,41,61,83,98,102,108,111,142,147,152,156,184,189,208,213,224,231,246,251],"same":[16],"time,":[17],"productivity":[18],"and":[19,44,90,101,128,176,243,245],"sustainability.":[20],"One":[21],"key":[24],"points":[25],"this":[27,49,64],"kind":[28],"vehicle":[30],"concerns":[31],"their":[32],"driving":[34,53],"strategy.":[35],"Generally,":[36],"strategy":[38,54],"should":[39],"include":[40],"path":[42,45,148],"planning":[43,149],"following":[46],"algorithms.":[47],"In":[48],"paper,":[50],"an":[51,70,129],"assessing":[55],"both":[56],"is":[57,73,85,159,210,241],"presented.":[58,74],"To":[59,161,233],"evaluate":[60],"effectiveness":[62],"strategy,":[65],"case":[67,216,252],"study":[68],"agricultural":[71],"rover":[72,99,185,225],"A":[75],"co-simulation":[76],"model,":[77],"including":[78],"multibody":[80],"model":[81],"rover,":[84],"developed":[86,242],"Matlab/Simulink":[88],"R2021b":[89],"Hexagon":[91],"Adams":[92],"2024":[93],"environments":[94],"virtually":[96],"test":[97],"capabilities":[100],"effects":[103],"its":[105],"dynamics":[106],"on":[107,192],"robustness":[109],"algorithm.":[112],"Given":[113],"different":[114,173],"orchard":[115],"configurations,":[116],"common":[117],"but":[118,203],"critical":[119],"work":[120],"scenarios":[121],"are":[122,139,179,248],"investigated,":[123],"namely":[124],"180\u00b0":[126],"turn":[127],"obstacle":[130],"avoidance":[131],"manoeuvre.":[132,232],"actual":[134],"trajectory":[135,144,198],"obtained":[136],"during":[137],"simulations":[138],"compared":[140,249],"ideal":[143],"defined":[145],"stage.":[150],"Furthermore,":[151],"torque":[153],"demand":[154],"electric":[157],"motors":[158,209],"evaluated.":[160],"consider":[162],"wide":[164],"range":[165],"possible":[167],"operating":[168],"conditions,":[169],"additional":[170],"tests":[171],"with":[172,195,250],"terrains,":[174,219],"payloads":[175],"road":[177],"slopes":[178],"included.":[180],"Results":[181],"showed":[182],"that":[183],"managed":[186],"accomplish":[188],"considered":[190],"manoeuvres":[191],"loam":[193],"soil":[194],"maximum":[197],"deviation":[199],"0.58":[201],"m,":[202],"temporary":[205],"overload":[206],"needed.":[211],"On":[212],"contrary,":[214],"difficult":[218],"such":[220],"as":[221],"muddy":[222],"soil,":[223],"was":[226],"not":[227],"able":[228],"perform":[230],"limit":[234],"tire":[235],"slip,":[236],"traction":[238],"control":[239],"algorithm":[240],"implemented,":[244],"results":[247],"without":[253],"control.":[254]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-29T09:21:14.243279","created_date":"2025-10-10T00:00:00"}