{"id":"https://openalex.org/W2531444453","doi":"https://doi.org/10.3390/s16101658","title":"Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)","display_name":"Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)","publication_year":2016,"publication_date":"2016-10-10","ids":{"openalex":"https://openalex.org/W2531444453","doi":"https://doi.org/10.3390/s16101658","mag":"2531444453","pmid":"https://pubmed.ncbi.nlm.nih.gov/27735857"},"language":"en","primary_location":{"id":"doi:10.3390/s16101658","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16101658","pdf_url":"https://www.mdpi.com/1424-8220/16/10/1658/pdf?version=1476084184","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/16/10/1658/pdf?version=1476084184","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002712538","display_name":"Javier Moreno\u2013Valenzuela","orcid":"https://orcid.org/0000-0003-0670-5979"},"institutions":[{"id":"https://openalex.org/I15766328","display_name":"Universitat de Lleida","ror":"https://ror.org/050c3cw24","country_code":"ES","type":"education","lineage":["https://openalex.org/I15766328"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier Moreno","raw_affiliation_strings":["Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain","institution_ids":["https://openalex.org/I15766328"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056741531","display_name":"Eduard Clotet","orcid":"https://orcid.org/0000-0002-1451-0242"},"institutions":[{"id":"https://openalex.org/I15766328","display_name":"Universitat de Lleida","ror":"https://ror.org/050c3cw24","country_code":"ES","type":"education","lineage":["https://openalex.org/I15766328"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Eduard Clotet","raw_affiliation_strings":["Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain","institution_ids":["https://openalex.org/I15766328"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046100028","display_name":"Ruben Lupia\u00f1ez","orcid":null},"institutions":[{"id":"https://openalex.org/I15766328","display_name":"Universitat de Lleida","ror":"https://ror.org/050c3cw24","country_code":"ES","type":"education","lineage":["https://openalex.org/I15766328"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Ruben Lupia\u00f1ez","raw_affiliation_strings":["Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain","institution_ids":["https://openalex.org/I15766328"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083197286","display_name":"Marcel Tres\u00e1nchez","orcid":"https://orcid.org/0000-0002-7965-0086"},"institutions":[{"id":"https://openalex.org/I15766328","display_name":"Universitat de Lleida","ror":"https://ror.org/050c3cw24","country_code":"ES","type":"education","lineage":["https://openalex.org/I15766328"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Marcel Tresanchez","raw_affiliation_strings":["Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain"],"raw_orcid":"https://orcid.org/0000-0002-7965-0086","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain","institution_ids":["https://openalex.org/I15766328"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039131286","display_name":"Dani Mart\u00ednez","orcid":"https://orcid.org/0000-0001-5814-5489"},"institutions":[{"id":"https://openalex.org/I15766328","display_name":"Universitat de Lleida","ror":"https://ror.org/050c3cw24","country_code":"ES","type":"education","lineage":["https://openalex.org/I15766328"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Dani Mart\u00ednez","raw_affiliation_strings":["Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain","institution_ids":["https://openalex.org/I15766328"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085958141","display_name":"Tom\u00e0s Pallej\u00e0","orcid":"https://orcid.org/0000-0001-8495-8643"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tom\u00e0s Pallej\u00e0","raw_affiliation_strings":["Barton Laboratory, Cornell University, Geneva, NY 14456, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Barton Laboratory, Cornell University, Geneva, NY 14456, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075694477","display_name":"Jordi Casanovas","orcid":"https://orcid.org/0000-0002-4914-9194"},"institutions":[{"id":"https://openalex.org/I15766328","display_name":"Universitat de Lleida","ror":"https://ror.org/050c3cw24","country_code":"ES","type":"education","lineage":["https://openalex.org/I15766328"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jordi Casanovas","raw_affiliation_strings":["Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain","institution_ids":["https://openalex.org/I15766328"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067857200","display_name":"Jordi Palac\u00edn","orcid":"https://orcid.org/0000-0001-8210-3262"},"institutions":[{"id":"https://openalex.org/I15766328","display_name":"Universitat de Lleida","ror":"https://ror.org/050c3cw24","country_code":"ES","type":"education","lineage":["https://openalex.org/I15766328"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Jordi Palac\u00edn","raw_affiliation_strings":["Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain"],"raw_orcid":"https://orcid.org/0000-0001-8210-3262","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain","institution_ids":["https://openalex.org/I15766328"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5067857200"],"corresponding_institution_ids":["https://openalex.org/I15766328"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":4.3191,"has_fulltext":true,"cited_by_count":54,"citation_normalized_percentile":{"value":0.94539152,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"16","issue":"10","first_page":"1658","last_page":"1658"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.9229154586791992},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.8305327892303467},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6332018375396729},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6266635656356812},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.6022886633872986},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5358928442001343},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5204496383666992},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5125858187675476},{"id":"https://openalex.org/keywords/angular-displacement","display_name":"Angular displacement","score":0.5075446367263794},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.480089008808136},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4598378539085388},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4345051348209381},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4082944989204407},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3953482508659363},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1260089874267578},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.11911383271217346}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9229154586791992},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.8305327892303467},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6332018375396729},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6266635656356812},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.6022886633872986},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5358928442001343},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5204496383666992},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5125858187675476},{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.5075446367263794},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.480089008808136},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4598378539085388},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4345051348209381},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4082944989204407},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3953482508659363},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1260089874267578},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.11911383271217346},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.3390/s16101658","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16101658","pdf_url":"https://www.mdpi.com/1424-8220/16/10/1658/pdf?version=1476084184","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:27735857","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/27735857","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:dnet:raudl_______::71e7a0270355701a5c821c0a07d8dbc0","is_oa":true,"landing_page_url":"http://hdl.handle.net/10459.1/57891","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"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":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:55203798c1b343c9b8cc7bb9e54f66ee","is_oa":true,"landing_page_url":"https://doaj.org/article/55203798c1b343c9b8cc7bb9e54f66ee","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":"Sensors, Vol 16, Iss 10, p 1658 (2016)","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:5087446","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5087446","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s16101658","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s16101658","pdf_url":"https://www.mdpi.com/1424-8220/16/10/1658/pdf?version=1476084184","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321505","display_name":"Generalitat de Catalunya","ror":"https://ror.org/01bg62x04"},{"id":"https://openalex.org/F4320325745","display_name":"Universitat de Lleida","ror":"https://ror.org/050c3cw24"},{"id":"https://openalex.org/F4320338080","display_name":"European Social Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2531444453.pdf","grobid_xml":"https://content.openalex.org/works/W2531444453.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1982968759","https://openalex.org/W1986813079","https://openalex.org/W2002282487","https://openalex.org/W2004341666","https://openalex.org/W2075644744","https://openalex.org/W2092695017","https://openalex.org/W2093275327","https://openalex.org/W2105709186","https://openalex.org/W2120135120","https://openalex.org/W2123860492","https://openalex.org/W2168108948","https://openalex.org/W2168734853","https://openalex.org/W2181282840","https://openalex.org/W2275810751","https://openalex.org/W2284157354","https://openalex.org/W2328398854","https://openalex.org/W2342945762","https://openalex.org/W2545582917","https://openalex.org/W6674297362","https://openalex.org/W6681227949","https://openalex.org/W6681526986","https://openalex.org/W6684189685","https://openalex.org/W6995527795"],"related_works":["https://openalex.org/W2156868854","https://openalex.org/W2724195622","https://openalex.org/W4205669743","https://openalex.org/W4200210047","https://openalex.org/W1969991288","https://openalex.org/W4244593870","https://openalex.org/W2551663027","https://openalex.org/W2614963770","https://openalex.org/W287737911","https://openalex.org/W1511332864"],"abstract_inverted_index":{"This":[0],"paper":[1,38],"presents":[2],"the":[3,9,40,43,48,51,54,58,62,65,91,95,103,107],"design,":[4],"implementation":[5],"and":[6,34,46,64,97,99],"validation":[7],"of":[8,14,31,42,50,61,106],"three-wheel":[10],"holonomic":[11,24],"motion":[12,25,44],"system":[13,26,45],"a":[15,69,83,100],"mobile":[16,108],"robot":[17,109],"designed":[18],"to":[19,117],"operate":[20],"in":[21,29,78,102,113],"homes.":[22],"The":[23,37],"is":[27],"described":[28],"terms":[30],"mechanical":[32],"design":[33],"electronic":[35],"control.":[36],"analyzes":[39],"kinematics":[41],"validates":[47],"estimation":[49],"trajectory":[52],"comparing":[53],"displacement":[55,66],"estimated":[56,67,93],"with":[57,68,94],"internal":[59],"odometry":[60],"motors":[63],"SLAM":[70,96],"procedure":[71],"based":[72],"on":[73,85],"LIDAR":[74],"information.":[75],"Results":[76],"obtained":[77],"different":[79],"experiments":[80],"have":[81],"shown":[82],"difference":[84,101],"less":[86],"than":[87,111],"30":[88],"mm":[89],"between":[90],"position":[92],"odometry,":[98],"angular":[104],"orientation":[105],"lower":[110],"5\u00b0":[112],"absolute":[114],"displacements":[115],"up":[116],"1000":[118],"mm.":[119]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":5}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
