{"id":"https://openalex.org/W7131428858","doi":"https://doi.org/10.48550/arxiv.2602.19862","title":"Rendezvous and Docking of Mobile Ground Robots for Efficient Transportation Systems","display_name":"Rendezvous and Docking of Mobile Ground Robots for Efficient Transportation Systems","publication_year":2026,"publication_date":"2026-02-23","ids":{"openalex":"https://openalex.org/W7131428858","doi":"https://doi.org/10.48550/arxiv.2602.19862"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2602.19862","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.19862","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2602.19862","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5126676049","display_name":"Lars Fischer","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fischer, Lars","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056681387","display_name":"Daniel Fl\u00f6gel","orcid":"https://orcid.org/0009-0005-9899-0616"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fl\u00f6gel, Daniel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5028296557","display_name":"S\u00f6ren Hohmann","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hohmann, S\u00f6ren","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.2831999957561493,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.2831999957561493,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.1842000037431717,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.1776999980211258,"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/rendezvous","display_name":"Rendezvous","score":0.7642999887466431},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7346000075340271},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7085999846458435},{"id":"https://openalex.org/keywords/docking","display_name":"Docking (animal)","score":0.474700003862381},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4041999876499176},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.3831999897956848},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.36970001459121704}],"concepts":[{"id":"https://openalex.org/C2779968344","wikidata":"https://www.wikidata.org/wiki/Q3932925","display_name":"Rendezvous","level":3,"score":0.7642999887466431},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7346000075340271},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7085999846458435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5335000157356262},{"id":"https://openalex.org/C41685203","wikidata":"https://www.wikidata.org/wiki/Q1974042","display_name":"Docking (animal)","level":2,"score":0.474700003862381},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42890000343322754},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4041999876499176},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.3831999897956848},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37599998712539673},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.36970001459121704},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3582000136375427},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.35019999742507935},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3294999897480011},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2930999994277954},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2913999855518341},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29100000858306885},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2646999955177307},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.26089999079704285}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2602.19862","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.19862","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2602.19862","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.19862","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.7051416039466858,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In-Motion":[0],"physical":[1,41,75],"coupling":[2,42,76],"of":[3,43,58,98,136],"multiple":[4],"mobile":[5,45],"ground":[6,46],"robots":[7,47,125],"has":[8],"the":[9,56,59,63,94],"potential":[10],"to":[11,106,130,156],"enable":[12],"new":[13],"applications":[14],"like":[15],"in-motion":[16,40,74,144],"transfer":[17,145],"that":[18,72,91],"improves":[19],"efficiency":[20],"in":[21,30,36,69,133,160],"handling":[22],"and":[23,62,96,110,117,152],"transferring":[24],"goods,":[25],"which":[26,147],"tackles":[27],"current":[28],"challenges":[29],"logistics.":[31],"A":[32],"key":[33],"challenge":[34],"lies":[35],"achieving":[37],"reliable":[38],"autonomous":[39],"two":[44,99],"starting":[48],"at":[49],"any":[50],"initial":[51,138],"position.":[52,139],"Existing":[53],"approaches":[54],"neglect":[55],"modeling":[57],"docking":[60,108,128],"interface":[61,129],"strategy":[64,114],"for":[65,115],"approaching":[66,113],"it,":[67],"resulting":[68],"uncontrolled":[70],"collisions":[71],"make":[73],"either":[77],"impossible":[78],"or":[79],"inefficient.":[80],"To":[81],"address":[82],"this":[83],"challenge,":[84],"we":[85],"propose":[86],"a":[87,127,157,161],"central":[88],"mpc":[89],"approach":[90,121,159],"explicitly":[92],"models":[93],"dynamics":[95],"states":[97],"omnidirectional":[100,123],"wheeled":[101,124],"robots,":[102],"incorporates":[103],"constraints":[104],"related":[105],"their":[107,137],"interface,":[109],"implements":[111],"an":[112],"rendezvous":[116],"docking.":[118],"This":[119],"novel":[120],"enables":[122],"with":[126],"physically":[131],"couple":[132],"motion":[134],"regardless":[135],"In":[140],"addition,":[141],"it":[142],"makes":[143],"possible,":[146],"is":[148],"19.75%":[149],"more":[150],"time-":[151],"21.04%":[153],"energy-efficient":[154],"compared":[155],"non-coupling":[158],"logistic":[162],"scenario.":[163]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-02-26T00:00:00"}