{"id":"https://openalex.org/W2061494082","doi":"https://doi.org/10.5220/0005034900650073","title":"Soil Strength-based Estimation of Optimal Control Parameters for Wheeled Robots on Rough Terrain","display_name":"Soil Strength-based Estimation of Optimal Control Parameters for Wheeled Robots on Rough Terrain","publication_year":2014,"publication_date":"2014-01-01","ids":{"openalex":"https://openalex.org/W2061494082","doi":"https://doi.org/10.5220/0005034900650073","mag":"2061494082"},"language":"en","primary_location":{"id":"doi:10.5220/0005034900650073","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0005034900650073","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.5220/0005034900650073","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100612965","display_name":"Jayoung Kim","orcid":"https://orcid.org/0000-0003-1371-4937"},"institutions":[{"id":"https://openalex.org/I196345858","display_name":"Chungnam National University","ror":"https://ror.org/0227as991","country_code":"KR","type":"education","lineage":["https://openalex.org/I196345858"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jayoung Kim","raw_affiliation_strings":["Chungnam National University, Korea, Republic of","Dept. Of Mechatronics Engineering, Chungnam National University, Gungdong, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Chungnam National University, Korea, Republic of","institution_ids":["https://openalex.org/I196345858"]},{"raw_affiliation_string":"Dept. Of Mechatronics Engineering, Chungnam National University, Gungdong, Daejeon, Korea","institution_ids":["https://openalex.org/I196345858"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003383414","display_name":"Jihong Lee","orcid":"https://orcid.org/0000-0002-7889-4935"},"institutions":[{"id":"https://openalex.org/I196345858","display_name":"Chungnam National University","ror":"https://ror.org/0227as991","country_code":"KR","type":"education","lineage":["https://openalex.org/I196345858"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jihong Lee","raw_affiliation_strings":["Chungnam National University, Korea, Republic of","Dept. Of Mechatronics Engineering, Chungnam National University, Gungdong, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Chungnam National University, Korea, Republic of","institution_ids":["https://openalex.org/I196345858"]},{"raw_affiliation_string":"Dept. Of Mechatronics Engineering, Chungnam National University, Gungdong, Daejeon, Korea","institution_ids":["https://openalex.org/I196345858"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100612965"],"corresponding_institution_ids":["https://openalex.org/I196345858"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17195786,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"65","last_page":"73"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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/T12118","display_name":"Forest Biomass Utilization and Management","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T12729","display_name":"Tree Root and Stability Studies","score":0.9786999821662903,"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/terrain","display_name":"Terrain","score":0.8612309098243713},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.634902834892273},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5408945083618164},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5196853280067444},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4366072714328766},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41002780199050903},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3705294132232666},{"id":"https://openalex.org/keywords/geotechnical-engineering","display_name":"Geotechnical engineering","score":0.3625190258026123},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3301979899406433},{"id":"https://openalex.org/keywords/soil-science","display_name":"Soil science","score":0.32251787185668945},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23081865906715393},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19721561670303345},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09372696280479431}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8612309098243713},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.634902834892273},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5408945083618164},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5196853280067444},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4366072714328766},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41002780199050903},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3705294132232666},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.3625190258026123},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3301979899406433},{"id":"https://openalex.org/C159390177","wikidata":"https://www.wikidata.org/wiki/Q9161265","display_name":"Soil science","level":1,"score":0.32251787185668945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23081865906715393},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19721561670303345},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09372696280479431},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.5220/0005034900650073","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0005034900650073","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.5220/0005034900650073","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0005034900650073","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"},"sustainable_development_goals":[{"score":0.8899999856948853,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1993229338","https://openalex.org/W2013041100","https://openalex.org/W2026932431","https://openalex.org/W2076864989","https://openalex.org/W2104951871","https://openalex.org/W2111182037","https://openalex.org/W2136213179","https://openalex.org/W2148014896","https://openalex.org/W2162521543","https://openalex.org/W2773955853"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W2909067415","https://openalex.org/W4226082913","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"On":[0],"rough":[1],"terrain,":[2],"there":[3],"are":[4,86,140],"a":[5,92,123,147,167],"variety":[6],"of":[7,73,81,96,102,117,153,166,173],"soil":[8,12,40,110,144],"types":[9,101,172],"having":[10],"different":[11],"strength.":[13,41],"It":[14],"means":[15],"that":[16],"it":[17],"is":[18,120],"needed":[19],"for":[20,48,94],"outdoor":[21],"robots":[22],"to":[23,62,127,142],"change":[24],"wheel":[25,82],"control":[26,51],"strategies":[27],"since":[28],"optimal":[29,50,59,79,155],"slip":[30,60,85,136],"and":[31,58,84,106,135],"maximum":[32,55],"traction":[33,56,64,83,113,133],"levels":[34],"on":[35,39,70,99,138,150,170],"wheels":[36,139],"differ":[37],"depending":[38],"Therefore":[42],"this":[43,76],"paper":[44,77],"proposes":[45],"an":[46],"algorithm":[47,159],"acquiring":[49],"parameters,":[52],"such":[53],"as":[54],"coefficient":[57,134],"ratio":[61,137],"maximize":[63],"or":[65],"minimize":[66],"energy":[67],"consumption,":[68],"based":[69],"estimating":[71,109],"strength":[72,145],"soils.":[74],"In":[75],"the":[78,151],"models":[80],"derived":[87,154],"through":[88,162],"indoor":[89],"experiments":[90,165],"by":[91,122,146],"testbed":[93],"analysis":[95],"wheel-terrain":[97],"interactions":[98],"three":[100],"soil;":[103],"grass,":[104],"gravel":[105],"sand.":[107],"For":[108],"strength,":[111],"actual":[112,132],"coefficient,":[114],"including":[115],"information":[116],"motion":[118],"resistance,":[119],"observed":[121],"state":[124],"estimator":[125],"related":[126],"wheeled":[128,168],"robot":[129,169],"dynamics.":[130],"The":[131,157],"employed":[141],"estimate":[143],"numerical":[148],"method":[149],"basis":[152],"models.":[156],"proposed":[158],"was":[160],"verified":[161],"real":[163],"driving":[164],"various":[171],"soil.":[174]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}