{"id":"https://openalex.org/W2036372636","doi":"https://doi.org/10.1109/robot.2010.5509581","title":"Circulation of curves using vector fields: Actual robot experiments in 2D and 3D workspaces","display_name":"Circulation of curves using vector fields: Actual robot experiments in 2D and 3D workspaces","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2036372636","doi":"https://doi.org/10.1109/robot.2010.5509581","mag":"2036372636"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509581","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509581","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108447979","display_name":"Vin\u00edcius M Gon\u00e7alves","orcid":null},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Vini\u0301cius M Gon\u00e7alves","raw_affiliation_strings":["Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, MG, 31270-901, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, MG, 31270-901, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052284828","display_name":"Luciano C. A. Pimenta","orcid":"https://orcid.org/0000-0001-6385-1249"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Luciano C A Pimenta","raw_affiliation_strings":["Department of Electronic Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, MG, 31270-901, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, MG, 31270-901, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087530903","display_name":"Carlos Andrey Maia","orcid":"https://orcid.org/0000-0002-6073-698X"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Carlos A Maia","raw_affiliation_strings":["Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, MG, 31270-901, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, MG, 31270-901, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082883292","display_name":"Guilherme A. S. Pereira","orcid":"https://orcid.org/0000-0003-0739-9934"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Guilherme A S Pereira","raw_affiliation_strings":["Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, MG, 31270-901, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, MG, 31270-901, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066715175","display_name":"Bruno C. O. Dutra","orcid":null},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Bruno C O Dutra","raw_affiliation_strings":["Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, MG, 31270-901, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Department of Electrical Engineering, Universidade Federal de Minas Gerais, Belo Horizonte, MG, 31270-901, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017643429","display_name":"Nathan Michael","orcid":"https://orcid.org/0000-0002-3585-9195"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Michael","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","[GRASP Laboratory, University of Pennsylvania, Philadelphia, 19104, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"[GRASP Laboratory, University of Pennsylvania, Philadelphia, 19104, USA]","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013449487","display_name":"Jonathan Fink","orcid":"https://orcid.org/0000-0003-2272-9751"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Fink","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","[GRASP Laboratory, University of Pennsylvania, Philadelphia, 19104, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"[GRASP Laboratory, University of Pennsylvania, Philadelphia, 19104, USA]","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","[GRASP Laboratory, University of Pennsylvania, Philadelphia, 19104, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"[GRASP Laboratory, University of Pennsylvania, Philadelphia, 19104, USA]","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5439,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.61061328,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1136","last_page":"1141"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/workspace","display_name":"Workspace","score":0.8454883694648743},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7768270373344421},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6145720481872559},{"id":"https://openalex.org/keywords/vector-field","display_name":"Vector field","score":0.6085436344146729},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5477820634841919},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5013248920440674},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.48750755190849304},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.486010879278183},{"id":"https://openalex.org/keywords/circulation","display_name":"Circulation (fluid dynamics)","score":0.4665178060531616},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.46191027760505676},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4477701485157013},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42522573471069336},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4197882413864136},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41883736848831177},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17860335111618042},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16818010807037354},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13438305258750916},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11436811089515686},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06019166111946106}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8454883694648743},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7768270373344421},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6145720481872559},{"id":"https://openalex.org/C91188154","wikidata":"https://www.wikidata.org/wiki/Q186247","display_name":"Vector field","level":2,"score":0.6085436344146729},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5477820634841919},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5013248920440674},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.48750755190849304},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.486010879278183},{"id":"https://openalex.org/C11111821","wikidata":"https://www.wikidata.org/wiki/Q205880","display_name":"Circulation (fluid dynamics)","level":2,"score":0.4665178060531616},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.46191027760505676},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4477701485157013},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42522573471069336},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4197882413864136},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41883736848831177},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17860335111618042},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16818010807037354},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13438305258750916},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11436811089515686},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06019166111946106},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2010.5509581","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509581","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1968546192","https://openalex.org/W2029621102","https://openalex.org/W2037853458","https://openalex.org/W2098271755","https://openalex.org/W2103605737","https://openalex.org/W2110178871","https://openalex.org/W2112097268","https://openalex.org/W2112831459","https://openalex.org/W2115558907","https://openalex.org/W2119005343","https://openalex.org/W2119180849","https://openalex.org/W2119899283","https://openalex.org/W2124158836","https://openalex.org/W2159846278","https://openalex.org/W2294241086","https://openalex.org/W6675231651","https://openalex.org/W6676388466","https://openalex.org/W6678504014"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W2048576502","https://openalex.org/W2158938020","https://openalex.org/W2402852349"],"abstract_inverted_index":{"Different":[0],"robotic":[1],"tasks":[2],"can":[3],"be":[4],"solved":[5],"by":[6],"controlling":[7],"a":[8,28,34],"robot":[9,39],"to":[10,72],"circulate":[11],"along":[12,43],"curves.":[13],"These":[14],"include,":[15],"for":[16,38,58,62],"example,":[17],"border":[18],"inspection":[19],"and":[20,24,41,93],"surveillance,":[21],"multirobot":[22],"manipulation,":[23],"pattern":[25],"generation.":[26],"In":[27,50],"previous,":[29],"work":[30,53],"we":[31,54,86],"have":[32],"proposed":[33],"vector":[35],"field":[36],"approach":[37,57],"convergence":[40],"circulation":[42],"time-varying":[44],"curves":[45],"embedded":[46],"in":[47],"N-dimensional":[48],"spaces.":[49],"the":[51,63,67],"present":[52,87],"instantiate":[55],"this":[56,70],"three-dimensional":[59],"spaces":[60],"and,":[61],"first":[64],"time,":[65],"show":[66],"efficacy":[68],"of":[69],"method":[71],"control":[73,83],"actual":[74],"robots.":[75],"Besides":[76],"new":[77],"theoretical":[78],"analysis":[79],"when":[80],"constant":[81],"speed":[82],"is":[84],"applied,":[85],"experimental":[88],"results":[89],"with":[90],"aerial":[91],"(quadrotors)":[92],"ground":[94],"(differential-driven)":[95],"robot.":[96]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}