{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:49:46Z","timestamp":1777715386059,"version":"3.51.4"},"reference-count":26,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[1994,12,1]],"date-time":"1994-12-01T00:00:00Z","timestamp":786240000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1994,12]]},"abstract":"<jats:p>Path-tracking controllers for tractor-trailer-like robots are de signed by generalizing the geometric path-tracking approach currently adopted for car-like robots. This is done by formaliz ing the concepts of speed and lateral and heading offsets and by assuming slippage-free motion. The main result is that for straight-line or circular-arc paths to be tracked with a con stant velocity, path-tracking may be ensured by means of a linear, time-invariant, and decoupled controller, the gains of which may be determined using familiar proportional-integral- derivative (PID) and state-feedback techniques.<\/jats:p>","DOI":"10.1177\/027836499401300606","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"533-544","source":"Crossref","is-referenced-by-count":76,"title":["Path-tracking for a Tractor-Trailer-like Robot"],"prefix":"10.1177","volume":"13","author":[{"given":"R.M.","family":"DeSantis","sequence":"first","affiliation":[{"name":"Electrical and Computer Engineering Department Ecole Polytechnique de Montr\u00e9al Montreal, Quebec, Canada, H3C 3A7"}]}],"member":"179","published-online":{"date-parts":[[1994,12,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1137\/0148002"},{"key":"atypb2","volume-title":"Proc. of the 3rd Int. 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