{"id":"https://openalex.org/W4220760548","doi":"https://doi.org/10.1109/amc51637.2022.9729312","title":"Simplified Wheel Slip Modeling and Estimation for Omnidirectional Vehicles","display_name":"Simplified Wheel Slip Modeling and Estimation for Omnidirectional Vehicles","publication_year":2022,"publication_date":"2022-02-18","ids":{"openalex":"https://openalex.org/W4220760548","doi":"https://doi.org/10.1109/amc51637.2022.9729312"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc51637.2022.9729312","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lirias.kuleuven.be/bitstream/20.500.12942/715545/2/Simplified_Wheel_Slip_Modeling_and_Estimation_for_Omnidirectional_Vehicles.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077559629","display_name":"Bastiaan Vandewal","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bastiaan Vandewal","raw_affiliation_strings":["Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium Core Lab DMMS-M, Flanders Make, Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium Core Lab DMMS-M, Flanders Make, Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057319283","display_name":"Joris Gillis","orcid":"https://orcid.org/0000-0002-6774-3613"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Joris Gillis","raw_affiliation_strings":["Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium Core Lab DMMS-M, Flanders Make, Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium Core Lab DMMS-M, Flanders Make, Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061080337","display_name":"Goele Pipeleers","orcid":"https://orcid.org/0000-0003-1849-809X"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]},{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Goele Pipeleers","raw_affiliation_strings":["Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium Core Lab DMMS-M, Flanders Make, Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium Core Lab DMMS-M, Flanders Make, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096","https://openalex.org/I4210116480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021674650","display_name":"Jan Swevers","orcid":"https://orcid.org/0000-0003-2034-5519"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Jan Swevers","raw_affiliation_strings":["Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium Core Lab DMMS-M, Flanders Make, Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, MECO Research Team, KU Leuven, Belgium Core Lab DMMS-M, Flanders Make, Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.363,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":2,"citation_normalized_percentile":{"value":0.416041,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":70,"max":76},"biblio":{"volume":null,"issue":null,"first_page":"389","last_page":"395"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9999,"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":0.9999,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9938,"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/slip-angle","display_name":"Slip angle","score":0.52766335}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.78746724},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.7701072},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6046716},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.563366},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5344305},{"id":"https://openalex.org/C198046988","wikidata":"https://www.wikidata.org/wiki/Q1413792","display_name":"Slip angle","level":3,"score":0.52766335},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.50891566},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.47280544},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4697469},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3374858},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.303382},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2353316},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.22866309},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20028475},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17651016},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17623243},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07986972},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc51637.2022.9729312","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/715545","pdf_url":"https://lirias.kuleuven.be/bitstream/20.500.12942/715545/2/Simplified_Wheel_Slip_Modeling_and_Estimation_for_Omnidirectional_Vehicles.pdf","source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":["KU Leuven"],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/715545","pdf_url":"https://lirias.kuleuven.be/bitstream/20.500.12942/715545/2/Simplified_Wheel_Slip_Modeling_and_Estimation_for_Omnidirectional_Vehicles.pdf","source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":["KU Leuven"],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.65,"id":"https://metadata.un.org/sdg/11"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":22,"referenced_works":["https://openalex.org/W1546390994","https://openalex.org/W1555707599","https://openalex.org/W1964565648","https://openalex.org/W2003471621","https://openalex.org/W2026886769","https://openalex.org/W2035633629","https://openalex.org/W2046387417","https://openalex.org/W2056598605","https://openalex.org/W2092848654","https://openalex.org/W2092970220","https://openalex.org/W2102937854","https://openalex.org/W2130187425","https://openalex.org/W2149012351","https://openalex.org/W2150876197","https://openalex.org/W2749468379","https://openalex.org/W2775423207","https://openalex.org/W2801910602","https://openalex.org/W2892299728","https://openalex.org/W2979813897","https://openalex.org/W3109401591","https://openalex.org/W3139937934","https://openalex.org/W858284405"],"related_works":["https://openalex.org/W3108250843","https://openalex.org/W2767738679","https://openalex.org/W2750844959","https://openalex.org/W2175071464","https://openalex.org/W2126449449","https://openalex.org/W2098510938","https://openalex.org/W2094325995","https://openalex.org/W2052470723","https://openalex.org/W1988250161","https://openalex.org/W1668350285"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,40,80,90,117,124,129],"development":[4],"of":[5,79,93],"a":[6,27],"low-complexity":[7],"wheel":[8,31,57,108],"slip-based":[9],"vehicle":[10,15,28,71],"model":[11,29,42,59,82],"for":[12,23,35,45,72,84,131],"an":[13,67],"omnidirectional":[14,70],"equipped":[16],"with":[17,30,52],"Mecanum":[18],"wheels":[19],"that":[20],"is":[21,87,100],"suited":[22],"optimal":[24,61,97],"control.":[25],"Augmenting":[26],"slip":[32,58,81,109,140],"properties":[33],"allows":[34,44],"better":[36],"trajectory":[37],"tracking,":[38],"while":[39],"reduced":[41],"complexity":[43],"manageable":[46],"parameter":[47],"estimation":[48,77],"and":[49,60,89,121,134],"motion":[50,62,98,112,137],"planning":[51,63,99,113],"lower":[53],"computation":[54,118],"times.":[55],"The":[56,76,102],"are":[64],"validated":[65],"on":[66],"in-house":[68],"developed":[69],"three":[73],"different":[74],"surfaces.":[75],"procedure":[78],"parameters":[83],"these":[85,94],"surfaces":[86],"discussed":[88],"effective":[91],"application":[92],"models":[95,110],"in":[96,111],"demonstrated.":[101],"results":[103],"encourage":[104],"to":[105,115,122],"use":[106],"simplified":[107],"problems":[114],"keep":[116],"time":[119],"low":[120],"increase":[123],"position":[125],"accuracy,":[126],"which":[127],"reduces":[128],"need":[130],"positional":[132],"feedback":[133],"fast":[135],"online":[136],"replanning":[138],"if":[139],"would":[141],"occur.":[142]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4220760548","counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2025-01-06T18:29:19.461654","created_date":"2022-04-03"}