{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,4,8]],"date-time":"2025-04-08T04:23:58Z","timestamp":1744086238344,"version":"3.40.3"},"reference-count":29,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2012,9,2]],"date-time":"2012-09-02T00:00:00Z","timestamp":1346544000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2013,8]]},"DOI":"10.1007\/s10846-012-9775-5","type":"journal-article","created":{"date-parts":[[2012,9,1]],"date-time":"2012-09-01T20:45:56Z","timestamp":1346532356000},"page":"159-178","source":"Crossref","is-referenced-by-count":6,"title":["Obstacle Modelling Oriented to Safe Motion Planning and Control for Planar Rigid Robot Manipulators"],"prefix":"10.1007","volume":"71","author":[{"given":"Luca Massimiliano","family":"Capisani","sequence":"first","affiliation":[]},{"given":"Tullio","family":"Facchinetti","sequence":"additional","affiliation":[]},{"given":"Antonella","family":"Ferrara","sequence":"additional","affiliation":[]},{"given":"Alessandro","family":"Martinelli","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2012,9,2]]},"reference":[{"issue":"2","key":"9775_CR1","doi-asserted-by":"crossref","first-page":"224","DOI":"10.1109\/21.148426","volume":"22","author":"J Barraquand","year":"1992","unstructured":"Barraquand, J., Langlois, B., Latombe, J.C.: Numerical potential field techniques for robot path planning. IEEE Trans. Syst. Man Cybern. 22(2), 224\u2013241 (1992)","journal-title":"IEEE Trans. Syst. Man Cybern."},{"key":"9775_CR2","doi-asserted-by":"crossref","unstructured":"Bartolini, G., Ferrara, A., Levant, A., Usai, E.: On second order sliding mode controllers. In: Young, K.D., Ozguner, U. (eds.) Lecture Notes on Control and Information Science, vol. 247, pp. 329\u2013350. Springer (1999)","DOI":"10.1007\/BFb0109984"},{"issue":"2","key":"9775_CR3","doi-asserted-by":"crossref","first-page":"241","DOI":"10.1109\/9.661074","volume":"43","author":"G Bartolini","year":"1998","unstructured":"Bartolini, G., Ferrara, A., Usai, E.: Chattering avoidance by second order sliding mode control. IEEE Trans. Automat. Contr. 43(2), 241\u2013246 (1998)","journal-title":"IEEE Trans. Automat. Contr."},{"issue":"9","key":"9775_CR4","doi-asserted-by":"crossref","first-page":"1371","DOI":"10.1016\/S0005-1098(01)00085-1","volume":"37","author":"G Bartolini","year":"2001","unstructured":"Bartolini, G., Pisano, A., Usai, E.: Digital second-order sliding mode control for uncertain nonlinear systems. Automatica 37(9), 1371\u20131377 (2001)","journal-title":"Automatica"},{"key":"9775_CR5","series-title":"(LNCiS) Lecture Notes in Control and Information Sciences, n. 360","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1007\/978-1-84628-974-3_12","volume-title":"Robot Motion and Control 2007","author":"A Calanca","year":"2007","unstructured":"Calanca, A., Capisani, L.M., Ferrara, A., Magnani, L.: An inverse dynamics-based discrete-time sliding mode controller for robot manipulators. In: Kozlowski, K. (ed.) Robot Motion and Control 2007, (LNCiS) Lecture Notes in Control and Information Sciences, n. 360, ch. 12, pp. 137\u2013146. Springer, London, UK (2007)"},{"key":"9775_CR6","doi-asserted-by":"crossref","unstructured":"Capisani, L.M., Facchinetti, T., Ferrara, A.: Second order sliding mode real-time networked control of a robotic manipulator. In: Proc. 12th IEEE Conference on Emerging Technologies and Factory Automation, pp. 941\u2013948. Patras, Greece (2007)","DOI":"10.1109\/EFTA.2007.4416885"},{"key":"9775_CR7","doi-asserted-by":"crossref","unstructured":"Capisani, L.M., Ferrara, A., Magnani, L.: MIMO identification with optimal experiment design for rigid robot manipulators. In: Proc. IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, pp. 1\u20136. Z\u00fcrich, Switzerland (2007)","DOI":"10.1109\/AIM.2007.4412552"},{"key":"9775_CR8","doi-asserted-by":"crossref","unstructured":"Capisani, L.M., Ferrara, A., Magnani, L.: Second order sliding mode motion control of rigid robot manipulators. In: Proc. 46th IEEE Conference on Decision and Control, pp. 3691\u20133696. New Orleans, Louisiana, USA (2007)","DOI":"10.1109\/CDC.2007.4434473"},{"issue":"2","key":"9775_CR9","doi-asserted-by":"crossref","first-page":"365","DOI":"10.1080\/00207170802112591","volume":"82","author":"LM Capisani","year":"2009","unstructured":"Capisani, L.M., Ferrara, A., Magnani, L.: Design and experimental validation of a second-order sliding-mode motion controller for robot manipulators. Int. J. Control 82(2), 365\u2013377 (2009)","journal-title":"Int. J. Control"},{"key":"9775_CR10","volume-title":"Principles of Robot Motion, Theory, Algorithms and Implementations","author":"H Choset","year":"2005","unstructured":"Choset, H., Lynch, K.M., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L.E., Thrun, S.: Principles of Robot Motion, Theory, Algorithms and Implementations. MIT Press, Cambridge, Massachusetts, USA (2005)"},{"key":"9775_CR11","doi-asserted-by":"crossref","unstructured":"Colbaugh, R.D., Bassi, E., Benzi, F., Trabatti, M.: Enhancing the trajectory tracking performance capabilities of position-controlled manipulators. In: Proc. IEEE Industry Applications Conference, vol.\u00a02, pp. 1170\u20131177. Rome, Italy (2000)","DOI":"10.1109\/IAS.2000.881980"},{"key":"9775_CR12","volume-title":"Robotics: Science and Systems","author":"R Diankov","year":"2008","unstructured":"Diankov, R., Ratliff, N., Ferguson, D., Srinivasa, S., Kuffner, J.: Bispace planning: Concurrent multi-space exploration. In: Robotics: Science and Systems. Z\u00fcrich, Switzerland (2008)"},{"key":"9775_CR13","doi-asserted-by":"crossref","DOI":"10.1201\/9781498701822","volume-title":"Sliding Mode Control: Theory and Applications","author":"C Edwards","year":"1998","unstructured":"Edwards, C., Spurgeon, S.K.: Sliding Mode Control: Theory and Applications. Taylor & Francis, London, UK (1998)"},{"key":"9775_CR14","doi-asserted-by":"crossref","unstructured":"Guldner, J., Utkin, V.I., Hashimoto, H., Harashima, F.: Obstacle avoidance in r n based on artificial harmonic potential fields. In: Proc. IEEE Conference on robotics and automation, vol.\u00a03, pp. 3051\u20133056. Nagoya, Aichi, Japan (1995)","DOI":"10.1109\/ROBOT.1995.525718"},{"issue":"1","key":"9775_CR15","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1109\/70.127236","volume":"8","author":"YK Hwang","year":"1992","unstructured":"Hwang, Y.K., Ahuja, N.: A potential field approach to path planning. IEEE Trans. Robot. Autom. 8(1), 23\u201331 (1992)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"9775_CR16","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-84628-615-5","volume-title":"Nonlinear Control Systems","author":"A Isidori","year":"1995","unstructured":"Isidori, A.: Nonlinear Control Systems, 3rd edn. Springer, London, UK (1995)","edition":"3"},{"key":"9775_CR17","doi-asserted-by":"crossref","unstructured":"Keymeulen, D., Decuyper, J.: The fluid dynamics applied to mobile robot motion: the stream field method. In: Proc. IEEE Conference on Robotics and Automation, vol.\u00a01, pp. 378\u2013385. San Diego, California, USA (1994)","DOI":"10.1109\/ROBOT.1994.351266"},{"issue":"1","key":"9775_CR18","doi-asserted-by":"crossref","first-page":"90","DOI":"10.1177\/027836498600500106","volume":"5","author":"O Khatib","year":"1986","unstructured":"Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. Int. J. Rob. Res. 5(1), 90\u201398 (1986)","journal-title":"Int. J. Rob. Res."},{"issue":"3","key":"9775_CR19","doi-asserted-by":"crossref","first-page":"338","DOI":"10.1109\/70.143352","volume":"8","author":"J Oh Kim","year":"1992","unstructured":"Oh\u00a0Kim, J., Kosla, P.K.: Real-time obstacle avoidance using harmonic potential functions. IEEE Trans. Robot. Autom. 8(3), 338\u2013349 (1992)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"9775_CR20","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4615-4022-9","volume-title":"Robot Motion Planning","author":"JC Latombe","year":"1991","unstructured":"Latombe, J.C.: Robot Motion Planning. Kluwer Academic Publishers, Dordrecht, The Netherlands (1991)"},{"key":"9775_CR21","doi-asserted-by":"crossref","DOI":"10.1017\/CBO9780511546877","volume-title":"Planning Algorithms","author":"SM LaValle","year":"2006","unstructured":"LaValle, S.M.: Planning Algorithms. Cambridge University Press, Cambridge, Massachusetts, USA (2006)"},{"issue":"3","key":"9775_CR22","doi-asserted-by":"crossref","first-page":"224","DOI":"10.1109\/JRA.1987.1087095","volume":"RA-3","author":"T Lozano-P\u00e9rez","year":"1987","unstructured":"Lozano-P\u00e9rez, T.: A simple motion-planing algorithm for general robot manipulators. IEEE Trans. Robot. Autom. RA-3(3), 224\u2013238 (1987)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"9775_CR23","first-page":"1922","volume-title":"Proc. IEEE Intelligent Robots and Systems","author":"E Ralli","year":"1994","unstructured":"Ralli, E., Hirzinger, G.: Fast path planning for robot manipulators using numerical potential fields in the configuration space. In: Proc. IEEE Intelligent Robots and Systems, pp. 1922\u20131929. Munich, Germany (1994)"},{"issue":"5","key":"9775_CR24","doi-asserted-by":"crossref","first-page":"501","DOI":"10.1109\/70.163777","volume":"8","author":"E Rimon","year":"1992","unstructured":"Rimon, E., Koditschek, D.E.: Exact robot navigation using artificial potential functions. IEEE Trans. Robot. Autom. 8(5), 501\u2013518 (1992)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"9775_CR25","doi-asserted-by":"crossref","unstructured":"S\u00e1ncez, G., Latombe, J.C.: A single-query bi-directional probabilistic roadmap planner with lazy collision checking. In: Jarvis, R., Zelinsky, A. (eds.) Robotics Research. Springer Tracts in Advanced Robotics, vol.\u00a06, pp. 403\u2013417. Springer Berlin \/ Heidelberg (2003)","DOI":"10.1007\/3-540-36460-9_27"},{"key":"9775_CR26","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-84628-642-1","volume-title":"Robotics: Modelling, Planning and Control","author":"B Siciliano","year":"2009","unstructured":"Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G.: Robotics: Modelling, Planning and Control. Springer, London, UK (2009)"},{"key":"9775_CR27","doi-asserted-by":"crossref","unstructured":"\u015eucan, I.A., Kavraki, L.E.: Kinodynamic motion planning by interior-exterior cell exploration. In: Chirikjian, G., Choset, H., Morales, M., Murphey, T. (eds.) Algorithmic Foundation of Robotics VIII. Springer Tracts in Advanced Robotics, vol.\u00a057, pp. 449\u2013464. Springer Berlin \/ Heidelberg (2009)","DOI":"10.1007\/978-3-642-00312-7_28"},{"key":"9775_CR28","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-84379-2","volume-title":"Sliding Modes in Control and Optimization","author":"VI Utkin","year":"1992","unstructured":"Utkin, V.I.: Sliding Modes in Control and Optimization. Springer, Berlin, Germany (1992)"},{"key":"9775_CR29","doi-asserted-by":"crossref","unstructured":"Zelek, J.S.: Dynamic path planning. In: Proc. IEEE Conference on Systems, Man and Cybernetics, pp. 1285\u20131290. Vancouver, British Columbia, Canada (1995)","DOI":"10.1109\/ICSMC.1995.537949"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-012-9775-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-012-9775-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-012-9775-5","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,4,7]],"date-time":"2025-04-07T18:06:17Z","timestamp":1744049177000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-012-9775-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,9,2]]},"references-count":29,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2013,8]]}},"alternative-id":["9775"],"URL":"https:\/\/doi.org\/10.1007\/s10846-012-9775-5","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2012,9,2]]}}}