{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,21]],"date-time":"2025-11-21T12:10:11Z","timestamp":1763727011887,"version":"3.37.3"},"reference-count":26,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2016,2,10]],"date-time":"2016-02-10T00:00:00Z","timestamp":1455062400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/100008572","name":"University of Ottawa","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100008572","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2016,9]]},"DOI":"10.1007\/s10846-016-0352-1","type":"journal-article","created":{"date-parts":[[2016,2,10]],"date-time":"2016-02-10T00:14:35Z","timestamp":1455063275000},"page":"585-602","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Energy Consumption Optimization for Mobile Robots Motion Using Predictive Control"],"prefix":"10.1007","volume":"83","author":[{"given":"Mostafa I.","family":"Yacoub","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dan S.","family":"Necsulescu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jurek Z.","family":"Sasiadek","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2016,2,10]]},"reference":[{"issue":"4","key":"352_CR1","doi-asserted-by":"crossref","first-page":"989","DOI":"10.1016\/j.automatica.2008.11.004","volume":"45","author":"W Zhang","year":"2009","unstructured":"Zhang, W., Lu, Y., Hu, J.: Optimal solutions to a class of power management problems in Mobile Robots. Autom. (J. IFAC) 45(4), 989\u2013996 (2009)","journal-title":"Autom. (J. IFAC)"},{"key":"352_CR2","doi-asserted-by":"crossref","unstructured":"Suntharalingam, P., Economou, J.T., Knowles, K.: Gear Locking Mechanism to Extend the Consistent Power Operating Region of the Electric Motor to Enhance Acceleration and Regenerative Braking Efficiency in Hybrid Electric Vehicles. In: IEEE Vehicle Power and Propulsion Conference, pp 103\u2013108, Dearborn, MI (2009)","DOI":"10.1109\/VPPC.2009.5289862"},{"key":"352_CR3","doi-asserted-by":"crossref","unstructured":"Ngo, T.D., Raposo, H., Schioler, H.: Potentially Distributable Energy: Towards Energy Autonomy in Large Population of Mobile Robots. In: proceedings of the 2007 IEEE International Symposium on Computational Intelligance in Robotics and Automation, pp 208\u2013211, Jacksonville, FL (2007)","DOI":"10.1109\/CIRA.2007.382875"},{"issue":"4","key":"352_CR4","doi-asserted-by":"crossref","first-page":"502","DOI":"10.1109\/48.338386","volume":"19","author":"I Spangelo","year":"1994","unstructured":"Spangelo, I., Egeland, O.: Trajectory planning and collision avoidance for underwater vehicles using optimal control. IEEE J. Ocean. Eng. 19(4), 502\u2013511 (1994)","journal-title":"IEEE J. Ocean. Eng."},{"issue":"9","key":"352_CR5","doi-asserted-by":"crossref","first-page":"925","DOI":"10.1016\/j.ijnonlinmec.2008.06.012","volume":"43","author":"J Vanualailai","year":"2008","unstructured":"Vanualailai, J., Sharma, B., Nakagiri, S.-I.: An asymptotically stable collision-avoidance system. Int. J. Nonlinear Mech. 43(9), 925\u2013932 (2008)","journal-title":"Int. J. Nonlinear Mech."},{"key":"352_CR6","doi-asserted-by":"crossref","unstructured":"Chuy, O., Collins, E., Yu, W., Ordonez, C.: Power modeling of a skid steered robotic ground vehicle. In: IEEE International Conference on Robotics and Automation, pp 4118\u20134123, Kobe (2009)","DOI":"10.1109\/ROBOT.2009.5152387"},{"key":"352_CR7","doi-asserted-by":"crossref","unstructured":"Morales, J., Martinez, J.L., Mandow, A., Pequeno-Boter, A., Garcia-Cerezo, A.: Simplified power consumption modeling and identification for wheeled skid-steer robotic vehicles on hard horizontal ground. In: IEEE\/RJ International Conference on Intelligent Robots and Systems, pp 4769\u20134774, Taiwan (2010)","DOI":"10.1109\/IROS.2010.5649292"},{"issue":"2","key":"352_CR8","doi-asserted-by":"crossref","first-page":"340","DOI":"10.1109\/TRO.2010.2042540","volume":"26","author":"W Yu","year":"2010","unstructured":"Yu, W., Chuy, O.Y., Collins, E.G., Hollis, P.: Analysis and experimental verification for dynamic modeling of a skid-steered wheeled vehicle. IEEE Trans. Robot. 26(2), 340\u2013353 (2010)","journal-title":"IEEE Trans. Robot."},{"key":"352_CR9","doi-asserted-by":"crossref","unstructured":"Ordonez, C., Gupta, N., Yu, W., Chuy, O., Collins Jr, E.: Modeling of Skid-Steered Wheeled Robotic Vehicles on Sloped Terrains. In: ASME 2012 5Th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11Th Motion and Vibration Conference, pp 91\u201399. Fort Lauderdale, FL (2012)","DOI":"10.1115\/DSCC2012-MOVIC2012-8641"},{"key":"352_CR10","doi-asserted-by":"crossref","first-page":"733","DOI":"10.1016\/S0967-0661(02)00186-7","volume":"11","author":"SJ Qin","year":"2003","unstructured":"Qin, S.J., Badgwell, T.A.: A survey of industrial model predictive control technology. Control Eng. Pract. (J. IFAC) 11, 733\u2013764 (2003)","journal-title":"Control Eng. Pract. (J. IFAC)"},{"issue":"3","key":"352_CR11","doi-asserted-by":"crossref","first-page":"783","DOI":"10.1109\/TITS.2011.2112648","volume":"12","author":"MAS Kamal","year":"2011","unstructured":"Kamal, M.A.S., Mukai, M., Murata, J., Kawabe, T.: Ecological vehicle control on roads with up-down slopes. IEEE Trans. Intell. Trans. Syst. 12(3), 783\u2013794 (2011)","journal-title":"IEEE Trans. Intell. Trans. Syst."},{"key":"352_CR12","unstructured":"The Future of Fuel Economy, Freightliner Innovation Truck, 2012. [Online]. Available: http:\/\/www.freightlinertrucks.com\/innovation\/"},{"issue":"3","key":"352_CR13","doi-asserted-by":"crossref","first-page":"831","DOI":"10.1109\/TCST.2012.2198478","volume":"21","author":"MAS Kamal","year":"2013","unstructured":"Kamal, M.A.S., Mukai, M., Murata, J., Kawabe, T.: Model predictive control of vehicles on urban roads for improved fuel economy. IEEE Trans. Control Syst. Technol. 21(3), 831\u2013841 (2013)","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"352_CR14","doi-asserted-by":"crossref","unstructured":"Liu, C., Lee, C., Hansen, A., Hedrick, J., Ding, J.: A Computationally Efficient Predictive Controller for Lane Keeping of Semi-Autonomous Vehicles. In: proceedings of the ASME 2014 Dynamic Systems and Control Conference, pp 1\u20136, San Antonio, TX (2014)","DOI":"10.1115\/DSCC2014-6098"},{"key":"352_CR15","doi-asserted-by":"crossref","unstructured":"Strassberger, D., Mercorelli, P., Georgiadis, A.: Using the Flatness of DC-Drives to Emulate a Generator for a Decoupled MPC Using a Geometric Approach for Motion Control for Robotino. In: International Symposium on Power Electronics, Electrical Drives, Automation and Motion, pp 1337\u20131343, Ischia, Itally (2014)","DOI":"10.1109\/SPEEDAM.2014.6871967"},{"key":"352_CR16","doi-asserted-by":"crossref","first-page":"85","DOI":"10.1007\/978-3-319-21206-7_8","volume":"370","author":"K Sharma","year":"2015","unstructured":"Sharma, K., Honc, D., Dusek, F.: Model predictive control of trajectory tracking of differentially steered mobile robot. Intell. Data Anal. Appl. 370, 85\u201395 (2015)","journal-title":"Intell. Data Anal. Appl."},{"key":"352_CR17","doi-asserted-by":"crossref","unstructured":"Liu, J., Jayakumar, P., Overholt, J., Stein, J., Ersal, T.: The Role of Model Fidelity in Model Predictive Control Based Hazard Avoidance in Unmanned Ground Vehicles Using LIDAR Sensors. In: proceedings of the ASME 2013 Dynamic Systems and Control Conference, pp 1\u201310, Palo Alto, CA (2013)","DOI":"10.1115\/DSCC2013-4021"},{"key":"352_CR18","doi-asserted-by":"crossref","unstructured":"Liu, J., Jayakumar, P., Stein, J., Ersal, T.: A Multi-Stage Optimization Formulation for MPC-Based Obstacle Avoidance in Autonomous Vehicles Using LIDAR Sensor. In: proceedings of the ASME 2014 Dynamic Systems and Control Conference, pp 1\u201310, San Antonio, TX (2014)","DOI":"10.1115\/DSCC2014-6269"},{"key":"352_CR19","doi-asserted-by":"crossref","unstructured":"Gao, Y., Tseng, E., Lin, T., Hrovat, D., Borrelli, F.: Predictive control of autonomous ground vehicles with obstacle avoidance on slippery roads. In: Proceedings of the ASME 2010 Dynamic Systems and Control Conference, pp 265\u2013272, Cambridge, MA (2010)","DOI":"10.1115\/DSCC2010-4263"},{"key":"352_CR20","doi-asserted-by":"crossref","unstructured":"Yacoub, M.I., Necsulescu, D.S., Sasiadek, J.Z.: Energy Consumption Optimization for Mobile Robots in Three-Dimension Motion Using Predictive Control. In: Asian Control Conference, pp 1\u20136, Istanbul, Turkey (2013)","DOI":"10.1109\/ASCC.2013.6606254"},{"key":"352_CR21","doi-asserted-by":"crossref","unstructured":"Yacoub, M.I., Necsulescu, D.S., Sasiadek, J.Z.: Experimetal Evaluation of Energy Optimization Algorithm for Mobile Robots in Three-Dimension Motion Using Predictive Control. In: 21St Mediterranean Conference on Control and Automation, pp 437\u2013443, Crete, Greece (2013)","DOI":"10.1109\/MED.2013.6608759"},{"key":"352_CR22","unstructured":"February 2013. [Online]. Available: http:\/\/www.drrobot.com\/products\/itemdownloads\/x801.pdf"},{"key":"352_CR23","unstructured":"February 2013. [Online]. Available: http:\/\/usa.canon.com\/CUSA\/assets\/app\/pdf\/motors\/DCMicroCatalog.pdf"},{"key":"352_CR24","unstructured":"Astrom, T.H.K.: PID Control. In: PID Controllers; Theory, Design, and Tuning, NC, Instrument Society of America (1995)"},{"key":"352_CR25","doi-asserted-by":"crossref","unstructured":"Marques de Sa, J.P.: Data regression. In: Applied Statiscics: Using SPSS, STATISTICA, MATLAB and R, Heidelberg, Springer, 2007, pp. 275\u2013328","DOI":"10.1007\/978-3-540-71972-4_7"},{"key":"352_CR26","unstructured":"M. Inc., March 2013. [Online]. Available: http:\/\/www.mathworks.com\/help\/curvefit\/evaluating-goodness-of-fit.html"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0352-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-016-0352-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0352-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0352-1","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,4]],"date-time":"2019-09-04T07:50:32Z","timestamp":1567583432000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-016-0352-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,2,10]]},"references-count":26,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2016,9]]}},"alternative-id":["352"],"URL":"https:\/\/doi.org\/10.1007\/s10846-016-0352-1","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2016,2,10]]}}}