{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,22]],"date-time":"2026-02-22T02:23:08Z","timestamp":1771726988325,"version":"3.50.1"},"reference-count":39,"publisher":"MDPI AG","issue":"16","license":[{"start":{"date-parts":[[2022,8,12]],"date-time":"2022-08-12T00:00:00Z","timestamp":1660262400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Chilean Research and Development Agency (ANID)","award":["1191188"],"award-info":[{"award-number":["1191188"]}]},{"name":"Chilean Research and Development Agency (ANID)","award":["2021V\/-TAJOV\/00"],"award-info":[{"award-number":["2021V\/-TAJOV\/00"]}]},{"name":"Chilean Research and Development Agency (ANID)","award":["PID2019-108377RB-C32"],"award-info":[{"award-number":["PID2019-108377RB-C32"]}]},{"DOI":"10.13039\/501100005367","name":"National University of Distance Education","doi-asserted-by":"publisher","award":["1191188"],"award-info":[{"award-number":["1191188"]}],"id":[{"id":"10.13039\/501100005367","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005367","name":"National University of Distance Education","doi-asserted-by":"publisher","award":["2021V\/-TAJOV\/00"],"award-info":[{"award-number":["2021V\/-TAJOV\/00"]}],"id":[{"id":"10.13039\/501100005367","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100005367","name":"National University of Distance Education","doi-asserted-by":"publisher","award":["PID2019-108377RB-C32"],"award-info":[{"award-number":["PID2019-108377RB-C32"]}],"id":[{"id":"10.13039\/501100005367","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003176","name":"Ministry of Science and Innovation of Spain","doi-asserted-by":"publisher","award":["1191188"],"award-info":[{"award-number":["1191188"]}],"id":[{"id":"10.13039\/501100003176","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003176","name":"Ministry of Science and Innovation of Spain","doi-asserted-by":"publisher","award":["2021V\/-TAJOV\/00"],"award-info":[{"award-number":["2021V\/-TAJOV\/00"]}],"id":[{"id":"10.13039\/501100003176","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003176","name":"Ministry of Science and Innovation of Spain","doi-asserted-by":"publisher","award":["PID2019-108377RB-C32"],"award-info":[{"award-number":["PID2019-108377RB-C32"]}],"id":[{"id":"10.13039\/501100003176","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This article presents the development of a model of a spherical robot that rolls to move and has a single point of support with the surface. The model was developed in the CoppeliaSim simulator, which is a versatile tool for implementing this kind of experience. The model was tested under several scenarios and control goals (i.e., position control, path-following and formation control) with control strategies such as reinforcement learning, and Villela and IPC algorithms. The results of these approaches were compared using performance indexes to analyze the performance of the model under different scenarios. The model and examples with different control scenarios are available online.<\/jats:p>","DOI":"10.3390\/s22166020","type":"journal-article","created":{"date-parts":[[2022,8,15]],"date-time":"2022-08-15T23:44:03Z","timestamp":1660607043000},"page":"6020","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":19,"title":["Modeling and Control of a Spherical Robot in the CoppeliaSim Simulator"],"prefix":"10.3390","volume":"22","author":[{"given":"Guelis","family":"Montenegro","sequence":"first","affiliation":[{"name":"Departamento de Electrotecnia e Inform\u00e1tica, Universidad T\u00e9cnica Federico Santa Mar\u00eda, Av. Federico Santa Mar\u00eda 6090, Vi\u00f1a del Mar 2520001, Chile"}]},{"given":"Roberto","family":"Chac\u00f3n","sequence":"additional","affiliation":[{"name":"Escuela de Ingenier\u00eda El\u00e9ctrica, Pontificia Universidad Cat\u00f3lica de Valpara\u00edso, Av. Brasil 2147, Valpara\u00edso 2362804, Chile"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4478-6626","authenticated-orcid":false,"given":"Ernesto","family":"Fabregas","sequence":"additional","affiliation":[{"name":"Departamento de Inform\u00e1tica y Autom\u00e1tica, Universidad Nacional de Educaci\u00f3n a Distancia, Juan del Rosal 16, 28040 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9968-960X","authenticated-orcid":false,"given":"Gonzalo","family":"Garcia","sequence":"additional","affiliation":[{"name":"Ocean and Mechanical Engineering Department, Florida Atlantic University, 777 Glades Road EW 190, Boca Raton, FL 33431, USA"}]},{"given":"Karla","family":"Schr\u00f6der","sequence":"additional","affiliation":[{"name":"Escuela de Ingenier\u00eda El\u00e9ctrica, Pontificia Universidad Cat\u00f3lica de Valpara\u00edso, Av. Brasil 2147, Valpara\u00edso 2362804, Chile"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6354-0520","authenticated-orcid":false,"given":"Alberto","family":"Marroqu\u00edn","sequence":"additional","affiliation":[{"name":"Escuela de Ingenier\u00eda El\u00e9ctrica, Pontificia Universidad Cat\u00f3lica de Valpara\u00edso, Av. Brasil 2147, Valpara\u00edso 2362804, Chile"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7652-5338","authenticated-orcid":false,"given":"Sebasti\u00e1n","family":"Dormido-Canto","sequence":"additional","affiliation":[{"name":"Departamento de Inform\u00e1tica y Autom\u00e1tica, Universidad Nacional de Educaci\u00f3n a Distancia, Juan del Rosal 16, 28040 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2186-4126","authenticated-orcid":false,"given":"Gonzalo","family":"Farias","sequence":"additional","affiliation":[{"name":"Escuela de Ingenier\u00eda El\u00e9ctrica, Pontificia Universidad Cat\u00f3lica de Valpara\u00edso, Av. 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