Get quick answers to your questions about the article from our AI researcher chatbot
{'id': 'https://openalex.org/W2403616118', 'doi': 'https://doi.org/10.1007/978-3-319-26687-9_8', 'title': 'Predictive Control for Path-Following. From Trajectory Generation to the Parametrization of the Discrete Tracking Sequences', 'display_name': 'Predictive Control for Path-Following. From Trajectory Generation to the Parametrization of the Discrete Tracking Sequences', 'publication_year': 2015, 'publication_date': '2015-01-01', 'ids': {'openalex': 'https://openalex.org/W2403616118', 'doi': 'https://doi.org/10.1007/978-3-319-26687-9_8', 'mag': '2403616118'}, 'language': 'en', 'primary_location': {'is_oa': False, 'landing_page_url': 'https://doi.org/10.1007/978-3-319-26687-9_8', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S49978999', 'display_name': 'Lecture notes in control and information sciences', 'issn_l': '0170-8643', 'issn': ['0170-8643', '1610-7411'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310319900', 'host_organization_name': 'Springer Science+Business Media', 'host_organization_lineage': ['https://openalex.org/P4310319965', 'https://openalex.org/P4310319900'], 'host_organization_lineage_names': ['Springer Nature', 'Springer Science+Business Media'], 'type': 'book series'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, 'type': 'book-chapter', 'type_crossref': 'book-chapter', 'indexed_in': ['crossref'], 'open_access': {'is_oa': False, 'oa_status': 'closed', 'oa_url': None, 'any_repository_has_fulltext': False}, 'authorships': [{'author_position': 'first', 'author': {'id': 'https://openalex.org/A5034151810', 'display_name': 'Ionela Prodan', 'orcid': 'https://orcid.org/0000-0002-3522-5192'}, 'institutions': [{'id': 'https://openalex.org/I4210145979', 'display_name': "Laboratoire de Conception et d'Intégration des Systèmes", 'ror': 'https://ror.org/04eg25g76', 'country_code': 'FR', 'type': 'facility', 'lineage': ['https://openalex.org/I106785703', 'https://openalex.org/I4210145979', 'https://openalex.org/I899635006']}], 'countries': ['FR'], 'is_corresponding': False, 'raw_author_name': 'Ionela Prodan', 'raw_affiliation_strings': ["LCIS - Laboratoire de Conception et d'Intégration des Systèmes (50, rue Barthélémy de Laffemas – BP54 26902 Valence Cedex 9 - France)"], 'affiliations': [{'raw_affiliation_string': "LCIS - Laboratoire de Conception et d'Intégration des Systèmes (50, rue Barthélémy de Laffemas – BP54 26902 Valence Cedex 9 - France)", 'institution_ids': ['https://openalex.org/I4210145979']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5106497955', 'display_name': 'Sorin Olaru', 'orcid': 'https://orcid.org/0000-0003-3256-9595'}, 'institutions': [{'id': 'https://openalex.org/I4210097418', 'display_name': 'Laboratoire des signaux et systèmes', 'ror': 'https://ror.org/00skw9v43', 'country_code': 'FR', 'type': 'facility', 'lineage': ['https://openalex.org/I1294671590', 'https://openalex.org/I4210097418', 'https://openalex.org/I4210107720']}, {'id': 'https://openalex.org/I4210107720', 'display_name': 'CentraleSupélec', 'ror': 'https://ror.org/019tcpt25', 'country_code': 'FR', 'type': 'facility', 'lineage': ['https://openalex.org/I4210107720']}], 'countries': ['FR'], 'is_corresponding': False, 'raw_author_name': 'Sorin Olaru', 'raw_affiliation_strings': ['DISCO - Dynamical Interconnected Systems in COmplex Environments (CentraleSupelec\r\n3 rue Joliot-Curie 91192 Gif-sur-Yvette cedex - France)', 'L2S - Laboratoire des signaux et systèmes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)'], 'affiliations': [{'raw_affiliation_string': 'L2S - Laboratoire des signaux et systèmes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)', 'institution_ids': ['https://openalex.org/I4210097418']}, {'raw_affiliation_string': 'DISCO - Dynamical Interconnected Systems in COmplex Environments (CentraleSupelec\r\n3 rue Joliot-Curie 91192 Gif-sur-Yvette cedex - France)', 'institution_ids': ['https://openalex.org/I4210107720']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5071019478', 'display_name': 'Fernando A. C. C. Fontes', 'orcid': 'https://orcid.org/0000-0003-3516-5094'}, 'institutions': [{'id': 'https://openalex.org/I182534213', 'display_name': 'Universidade do Porto', 'ror': 'https://ror.org/043pwc612', 'country_code': 'PT', 'type': 'education', 'lineage': ['https://openalex.org/I182534213']}], 'countries': ['PT'], 'is_corresponding': False, 'raw_author_name': 'Fernando A.C.C. Fontes', 'raw_affiliation_strings': ['Universidade do Porto = University of Porto (Praça de Gomes Teixeira, 4099-002 Porto - Portugal)'], 'affiliations': [{'raw_affiliation_string': 'Universidade do Porto = University of Porto (Praça de Gomes Teixeira, 4099-002 Porto - Portugal)', 'institution_ids': ['https://openalex.org/I182534213']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5005445685', 'display_name': 'Фернандо Лобо Перейра', 'orcid': 'https://orcid.org/0000-0002-9602-2452'}, 'institutions': [{'id': 'https://openalex.org/I182534213', 'display_name': 'Universidade do Porto', 'ror': 'https://ror.org/043pwc612', 'country_code': 'PT', 'type': 'education', 'lineage': ['https://openalex.org/I182534213']}], 'countries': ['PT'], 'is_corresponding': False, 'raw_author_name': 'Fernando Lobo Pereira', 'raw_affiliation_strings': ['FEUP - Faculdade de Engenharia da Universidade do Porto (Rua Dr. Roberto Frias, s/n 4200-465 Porto - Portugal)'], 'affiliations': [{'raw_affiliation_string': 'FEUP - Faculdade de Engenharia da Universidade do Porto (Rua Dr. Roberto Frias, s/n 4200-465 Porto - Portugal)', 'institution_ids': ['https://openalex.org/I182534213']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5081301830', 'display_name': 'João Borges de Sousa', 'orcid': 'https://orcid.org/0000-0002-2528-4666'}, 'institutions': [{'id': 'https://openalex.org/I182534213', 'display_name': 'Universidade do Porto', 'ror': 'https://ror.org/043pwc612', 'country_code': 'PT', 'type': 'education', 'lineage': ['https://openalex.org/I182534213']}], 'countries': ['PT'], 'is_corresponding': False, 'raw_author_name': 'João Borges de Sousa', 'raw_affiliation_strings': ['DEEC - Department of Electrical and Computer Engineering [Porto] (Faculdade de Engenharia da Universidade do Porto Rua Dr. Roberto Frias, s/n 4200-465 Porto PORTUGAL - Portugal)'], 'affiliations': [{'raw_affiliation_string': 'DEEC - Department of Electrical and Computer Engineering [Porto] (Faculdade de Engenharia da Universidade do Porto Rua Dr. Roberto Frias, s/n 4200-465 Porto PORTUGAL - Portugal)', 'institution_ids': ['https://openalex.org/I182534213']}]}, {'author_position': 'middle', 'author': {'id': 'https://openalex.org/A5059234416', 'display_name': 'Cristina Stoica', 'orcid': 'https://orcid.org/0000-0002-5838-599X'}, 'institutions': [{'id': 'https://openalex.org/I4210097418', 'display_name': 'Laboratoire des signaux et systèmes', 'ror': 'https://ror.org/00skw9v43', 'country_code': 'FR', 'type': 'facility', 'lineage': ['https://openalex.org/I1294671590', 'https://openalex.org/I4210097418', 'https://openalex.org/I4210107720']}], 'countries': ['FR'], 'is_corresponding': False, 'raw_author_name': 'Cristina Stoica Maniu', 'raw_affiliation_strings': ['L2S - Laboratoire des signaux et systèmes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)'], 'affiliations': [{'raw_affiliation_string': 'L2S - Laboratoire des signaux et systèmes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)', 'institution_ids': ['https://openalex.org/I4210097418']}]}, {'author_position': 'last', 'author': {'id': 'https://openalex.org/A5058754609', 'display_name': 'Silviu–Iulian Niculescu', 'orcid': 'https://orcid.org/0000-0002-3444-2566'}, 'institutions': [{'id': 'https://openalex.org/I4210097418', 'display_name': 'Laboratoire des signaux et systèmes', 'ror': 'https://ror.org/00skw9v43', 'country_code': 'FR', 'type': 'facility', 'lineage': ['https://openalex.org/I1294671590', 'https://openalex.org/I4210097418', 'https://openalex.org/I4210107720']}, {'id': 'https://openalex.org/I4210107720', 'display_name': 'CentraleSupélec', 'ror': 'https://ror.org/019tcpt25', 'country_code': 'FR', 'type': 'facility', 'lineage': ['https://openalex.org/I4210107720']}], 'countries': ['FR'], 'is_corresponding': False, 'raw_author_name': 'Silviu-Iulian Niculescu', 'raw_affiliation_strings': ['DISCO - Dynamical Interconnected Systems in COmplex Environments (CentraleSupelec\r\n3 rue Joliot-Curie 91192 Gif-sur-Yvette cedex - France)', 'L2S - Laboratoire des signaux et systèmes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)'], 'affiliations': [{'raw_affiliation_string': 'L2S - Laboratoire des signaux et systèmes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)', 'institution_ids': ['https://openalex.org/I4210097418']}, {'raw_affiliation_string': 'DISCO - Dynamical Interconnected Systems in COmplex Environments (CentraleSupelec\r\n3 rue Joliot-Curie 91192 Gif-sur-Yvette cedex - France)', 'institution_ids': ['https://openalex.org/I4210107720']}]}], 'countries_distinct_count': 2, 'institutions_distinct_count': 4, 'corresponding_author_ids': [], 'corresponding_institution_ids': [], 'apc_list': None, 'apc_paid': None, 'fwci': 1.871, 'has_fulltext': True, 'fulltext_origin': 'ngrams', 'cited_by_count': 14, 'citation_normalized_percentile': {'value': 0.932005, 'is_in_top_1_percent': False, 'is_in_top_10_percent': True}, 'cited_by_percentile_year': {'min': 88, 'max': 89}, 'biblio': {'volume': None, 'issue': None, 'first_page': '161', 'last_page': '181'}, 'is_retracted': False, 'is_paratext': False, 'primary_topic': {'id': 'https://openalex.org/T10586', 'display_name': 'Sampling-Based Motion Planning Algorithms', 'score': 0.9997, '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': 'Sampling-Based Motion Planning Algorithms', 'score': 0.9997, '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/T10791', 'display_name': 'Model Predictive Control in Industrial Processes', 'score': 0.9969, '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/T10571', 'display_name': 'Kinematic and Dynamic Analysis of Robot Manipulators', 'score': 0.996, '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/trajectory-planning', 'display_name': 'Trajectory Planning', 'score': 0.587508}, {'id': 'https://openalex.org/keywords/model-predictive-control', 'display_name': 'Model Predictive Control', 'score': 0.560695}, {'id': 'https://openalex.org/keywords/path-planning', 'display_name': 'Path Planning', 'score': 0.552747}, {'id': 'https://openalex.org/keywords/distributed-control', 'display_name': 'Distributed Control', 'score': 0.543858}, {'id': 'https://openalex.org/keywords/nonholonomic-system', 'display_name': 'Nonholonomic system', 'score': 0.540684}, {'id': 'https://openalex.org/keywords/robust-control', 'display_name': 'Robust Control', 'score': 0.540464}, {'id': 'https://openalex.org/keywords/parametrization', 'display_name': 'Parametrization (atmospheric modeling)', 'score': 0.52921325}, {'id': 'https://openalex.org/keywords/tracking', 'display_name': 'Tracking (education)', 'score': 0.48178813}, {'id': 'https://openalex.org/keywords/flatness', 'display_name': 'Flatness (cosmology)', 'score': 0.44996187}], 'concepts': [{'id': 'https://openalex.org/C13662910', 'wikidata': 'https://www.wikidata.org/wiki/Q193139', 'display_name': 'Trajectory', 'level': 2, 'score': 0.78575456}, {'id': 'https://openalex.org/C47446073', 'wikidata': 'https://www.wikidata.org/wiki/Q5165890', 'display_name': 'Control theory (sociology)', 'level': 3, 'score': 0.61682856}, {'id': 'https://openalex.org/C2777735758', 'wikidata': 'https://www.wikidata.org/wiki/Q817765', 'display_name': 'Path (computing)', 'level': 2, 'score': 0.61037296}, {'id': 'https://openalex.org/C172205157', 'wikidata': 'https://www.wikidata.org/wiki/Q1782962', 'display_name': 'Model predictive control', 'level': 3, 'score': 0.59015703}, {'id': 'https://openalex.org/C41008148', 'wikidata': 'https://www.wikidata.org/wiki/Q21198', 'display_name': 'Computer science', 'level': 0, 'score': 0.57595724}, {'id': 'https://openalex.org/C138632511', 'wikidata': 'https://www.wikidata.org/wiki/Q2478109', 'display_name': 'Nonholonomic system', 'level': 4, 'score': 0.540684}, {'id': 'https://openalex.org/C202887219', 'wikidata': 'https://www.wikidata.org/wiki/Q3895221', 'display_name': 'Parametrization (atmospheric modeling)', 'level': 3, 'score': 0.52921325}, {'id': 'https://openalex.org/C75553542', 'wikidata': 'https://www.wikidata.org/wiki/Q178161', 'display_name': 'A priori and a posteriori', 'level': 2, 'score': 0.4938012}, {'id': 'https://openalex.org/C2775936607', 'wikidata': 'https://www.wikidata.org/wiki/Q466845', 'display_name': 'Tracking (education)', 'level': 2, 'score': 0.48178813}, {'id': 'https://openalex.org/C2778530986', 'wikidata': 'https://www.wikidata.org/wiki/Q5457948', 'display_name': 'Flatness (cosmology)', 'level': 3, 'score': 0.44996187}, {'id': 'https://openalex.org/C81074085', 'wikidata': 'https://www.wikidata.org/wiki/Q366872', 'display_name': 'Motion planning', 'level': 3, 'score': 0.4483279}, {'id': 'https://openalex.org/C133731056', 'wikidata': 'https://www.wikidata.org/wiki/Q4917288', 'display_name': 'Control engineering', 'level': 1, 'score': 0.35105053}, {'id': 'https://openalex.org/C126255220', 'wikidata': 'https://www.wikidata.org/wiki/Q141495', 'display_name': 'Mathematical optimization', 'level': 1, 'score': 0.33943}, {'id': 'https://openalex.org/C2775924081', 'wikidata': 'https://www.wikidata.org/wiki/Q55608371', 'display_name': 'Control (management)', 'level': 2, 'score': 0.3264119}, {'id': 'https://openalex.org/C90509273', 'wikidata': 'https://www.wikidata.org/wiki/Q11012', 'display_name': 'Robot', 'level': 2, 'score': 0.25654268}, {'id': 'https://openalex.org/C33923547', 'wikidata': 'https://www.wikidata.org/wiki/Q395', 'display_name': 'Mathematics', 'level': 0, 'score': 0.24555555}, {'id': 'https://openalex.org/C127413603', 'wikidata': 'https://www.wikidata.org/wiki/Q11023', 'display_name': 'Engineering', 'level': 0, 'score': 0.20638734}, {'id': 'https://openalex.org/C154945302', 'wikidata': 'https://www.wikidata.org/wiki/Q11660', 'display_name': 'Artificial intelligence', 'level': 1, 'score': 0.17823246}, {'id': 'https://openalex.org/C19966478', 'wikidata': 'https://www.wikidata.org/wiki/Q4810574', 'display_name': 'Mobile robot', 'level': 3, 'score': 0.13184416}, {'id': 'https://openalex.org/C15744967', 'wikidata': 'https://www.wikidata.org/wiki/Q9418', 'display_name': 'Psychology', 'level': 0, 'score': 0.0}, {'id': 'https://openalex.org/C19417346', 'wikidata': 'https://www.wikidata.org/wiki/Q7922', 'display_name': 'Pedagogy', 'level': 1, 'score': 0.0}, {'id': 'https://openalex.org/C138885662', 'wikidata': 'https://www.wikidata.org/wiki/Q5891', 'display_name': 'Philosophy', 'level': 0, '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/C111472728', 'wikidata': 'https://www.wikidata.org/wiki/Q9471', 'display_name': 'Epistemology', '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/C26405456', 'wikidata': 'https://www.wikidata.org/wiki/Q338', 'display_name': 'Cosmology', 'level': 2, 'score': 0.0}, {'id': 'https://openalex.org/C199360897', 'wikidata': 'https://www.wikidata.org/wiki/Q9143', 'display_name': 'Programming language', 'level': 1, 'score': 0.0}, {'id': 'https://openalex.org/C74902906', 'wikidata': 'https://www.wikidata.org/wiki/Q1190858', 'display_name': 'Radiative transfer', 'level': 2, 'score': 0.0}], 'mesh': [], 'locations_count': 3, 'locations': [{'is_oa': False, 'landing_page_url': 'https://doi.org/10.1007/978-3-319-26687-9_8', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S49978999', 'display_name': 'Lecture notes in control and information sciences', 'issn_l': '0170-8643', 'issn': ['0170-8643', '1610-7411'], 'is_oa': False, 'is_in_doaj': False, 'is_core': True, 'host_organization': 'https://openalex.org/P4310319900', 'host_organization_name': 'Springer Science+Business Media', 'host_organization_lineage': ['https://openalex.org/P4310319965', 'https://openalex.org/P4310319900'], 'host_organization_lineage_names': ['Springer Nature', 'Springer Science+Business Media'], 'type': 'book series'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, {'is_oa': False, 'landing_page_url': 'https://hal-centralesupelec.archives-ouvertes.fr/hal-01259636', 'pdf_url': None, 'source': {'id': 'https://openalex.org/S4306402512', 'display_name': 'HAL (Le Centre pour la Communication Scientifique Directe)', 'issn_l': None, 'issn': None, 'is_oa': True, 'is_in_doaj': False, 'is_core': False, 'host_organization': 'https://openalex.org/I1294671590', 'host_organization_name': 'Centre National de la Recherche Scientifique', 'host_organization_lineage': ['https://openalex.org/I1294671590'], 'host_organization_lineage_names': ['Centre National de la Recherche Scientifique'], 'type': 'repository'}, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}, {'is_oa': False, 'landing_page_url': 'https://centralesupelec.hal.science/hal-01259636', 'pdf_url': None, 'source': None, 'license': None, 'license_id': None, 'version': None, 'is_accepted': False, 'is_published': False}], 'best_oa_location': None, 'sustainable_development_goals': [], 'grants': [], 'datasets': [], 'versions': [], 'referenced_works_count': 38, 'referenced_works': ['https://openalex.org/W1522439181', 'https://openalex.org/W1592483312', 'https://openalex.org/W1631623342', 'https://openalex.org/W1965431174', 'https://openalex.org/W1984797278', 'https://openalex.org/W1990125581', 'https://openalex.org/W1993171261', 'https://openalex.org/W1998916693', 'https://openalex.org/W2000803795', 'https://openalex.org/W2002675616', 'https://openalex.org/W2006584388', 'https://openalex.org/W2006993200', 'https://openalex.org/W2010600508', 'https://openalex.org/W2013737143', 'https://openalex.org/W2022144586', 'https://openalex.org/W2023271562', 'https://openalex.org/W2031368559', 'https://openalex.org/W2032640829', 'https://openalex.org/W2034966370', 'https://openalex.org/W2059235156', 'https://openalex.org/W2073144514', 'https://openalex.org/W2073787051', 'https://openalex.org/W2090344516', 'https://openalex.org/W2091162904', 'https://openalex.org/W2094164604', 'https://openalex.org/W2094439455', 'https://openalex.org/W2102117144', 'https://openalex.org/W2102975675', 'https://openalex.org/W2142424817', 'https://openalex.org/W2150930292', 'https://openalex.org/W2167226741', 'https://openalex.org/W2277880065', 'https://openalex.org/W3022136271', 'https://openalex.org/W4230104359', 'https://openalex.org/W4241827770', 'https://openalex.org/W4301911764', 'https://openalex.org/W48920821', 'https://openalex.org/W582265575'], 'related_works': ['https://openalex.org/W4239315977', 'https://openalex.org/W2802540229', 'https://openalex.org/W2789295429', 'https://openalex.org/W2383775285', 'https://openalex.org/W2361081803', 'https://openalex.org/W2153421756', 'https://openalex.org/W2077818434', 'https://openalex.org/W2054489697', 'https://openalex.org/W2032198329', 'https://openalex.org/W1874066705'], 'abstract_inverted_index': {'This': [0], 'chapter': [1], 'discusses': [2], 'a': [3, 16, 67], 'series': [4], 'of': [5, 39, 50, 101, 104], 'developments': [6], 'on': [7, 113], 'predictive': [8, 115], 'controlPredictive': [9], 'control': [10, 78, 116], 'for': [11, 20, 70, 85], 'path': [12, 95, 109], 'followingPath': [13], 'following': [14, 96], 'via': [15, 94], 'priori': [17], 'generated': [18], 'trajectory': [19], 'autonomous': [21], 'aerial': [22], 'vehicles.': [23], 'The': [24], 'strategy': [25], 'partitions': [26], 'itself': [27], 'into': [28, 45], 'offlineTrajectory': [29], 'generation': [30], 'offline': [31, 47], 'and': [32, 49, 91, 110], 'runtime': [33], 'procedures': [34], 'with': [35], 'the': [36, 41, 46, 56, 82, 86, 102, 108, 114], 'assumed': [37], 'goal': [38], 'moving': [40], 'computationally': [42], 'expensive': [43], 'part': [44], 'phase': [48], 'leaving': [51], 'only': [52], 'tracking': [53, 83], 'decisions': [54], 'to': [55], 'runtime.': [57], 'First,': [58], 'it': [59], 'will': [60, 118], 'be': [61, 119], 'recalled': [62], 'that': [63], 'differential': [64], 'flatness': [65], 'represents': [66], 'well-suited': [68], 'tool': [69], 'generating': [71], 'feasible': [72], 'reference': [73], 'trajectory.': [74], 'Next,': [75], 'an': [76], 'optimization-based': [77], 'problem': [79], 'which': [80], 'minimizes': [81], 'error': [84], 'nonholonomic': [87], 'system': [88], 'is': [89], 'formulated': [90], 'further': [92], 'enhanced': [93], 'mechanisms.': [97], 'Finally,': [98], 'possible': [99], 'changes': [100], 'selection': [103], 'sampling': [105], 'times': [106], 'along': [107], 'their': [111], 'impact': [112], 'formulation': [117], 'discussed': [120], 'in': [121], 'detail.': [122]}, 'cited_by_api_url': 'https://api.openalex.org/works?filter=cites:W2403616118', 'counts_by_year': [{'year': 2023, 'cited_by_count': 1}, {'year': 2021, 'cited_by_count': 1}, {'year': 2020, 'cited_by_count': 5}, {'year': 2019, 'cited_by_count': 2}, {'year': 2018, 'cited_by_count': 1}, {'year': 2017, 'cited_by_count': 2}, {'year': 2016, 'cited_by_count': 2}], 'updated_date': '2024-09-12T04:44:01.644929', 'created_date': '2016-06-24'}