{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T17:01:53Z","timestamp":1753894913695,"version":"3.41.2"},"reference-count":26,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2013,1,1]],"date-time":"2013-01-01T00:00:00Z","timestamp":1356998400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["International Journal of Advanced Robotic Systems"],"published-print":{"date-parts":[[2013,10,1]]},"abstract":"<jats:p> This work addresses the problem of traction control in mobile wheeled robots in the particular case of the RoboCup Middle Size League (MSL). The slip control problem is formulated using simple friction models for ISePorto Team Robots with a differential wheel configuration. Traction was also characterized experimentally in the MSL scenario for relevant game events. This work proposes a hierarchical traction control architecture which relies on local slip detection and control at each wheel, with relevant information being relayed to a higher level responsible for global robot motion control. A dedicated one axis control embedded hardware subsystem allowing complex local control, high frequency current sensing and odometric information procession was developed. This local axis control board is integrated in a distributed system using CAN bus communications. The slipping observer was implemented in the axis control hardware nodes integrated in the ISePorto Robots and was used to control and detect loss of traction. An external vision system was used to perform a qualitative analysis of the slip detection and observer performance results are presented. <\/jats:p>","DOI":"10.5772\/56828","type":"journal-article","created":{"date-parts":[[2013,10,25]],"date-time":"2013-10-25T14:04:34Z","timestamp":1382709874000},"update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Distributed Active Traction Control System Applied to the RoboCup Middle Size League"],"prefix":"10.1177","volume":"10","author":[{"given":"Jos\u00e9","family":"Almeida","sequence":"first","affiliation":[{"name":"INESC TEC - INESC Technology and Science (formerly INESC Porto) and ISEP\/IPP - School of Engineering, Polytechnic Institute of Porto, Porto, Portugal"}]},{"given":"Andr\u00e9","family":"Dias","sequence":"additional","affiliation":[{"name":"INESC TEC - INESC Technology and Science (formerly INESC Porto) and ISEP\/IPP - School of Engineering, Polytechnic Institute of Porto, Porto, Portugal"}]},{"given":"Alfredo","family":"Martins","sequence":"additional","affiliation":[{"name":"INESC TEC - INESC Technology and Science (formerly INESC Porto) and ISEP\/IPP - School of Engineering, Polytechnic Institute of Porto, Porto, Portugal"}]},{"given":"Jo\u00e3o","family":"Sequeira","sequence":"additional","affiliation":[{"name":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico\/IST, Torre Norte, Av. Rovisco Pais 1, 1049-001 Lisboa, Portugal"}]},{"given":"Eduardo","family":"Silva","sequence":"additional","affiliation":[{"name":"INESC TEC - INESC Technology and Science (formerly INESC Porto) and ISEP\/IPP - School of Engineering, Polytechnic Institute of Porto, Porto, Portugal"}]}],"member":"179","published-online":{"date-parts":[[2013,1,1]]},"reference":[{"key":"bibr1-56828","doi-asserted-by":"publisher","DOI":"10.1023\/B:AURO.0000025791.45313.01"},{"volume-title":"PhD thesis","year":"2001","author":"Albagul A.","key":"bibr2-56828"},{"key":"bibr3-56828","doi-asserted-by":"crossref","unstructured":"Wilfong G. T. Motion planning for an autonomous vehicle. In Proc. IEEE International Conference on Robotics and Automation, pages 529\u2013533, April 24\u201329, 1988.","DOI":"10.1109\/ROBOT.1988.12106"},{"issue":"2","key":"bibr4-56828","first-page":"241","volume":"7","author":"Shiller Z.","year":"1991","journal-title":"Dynamic motion planning of autonomous vehicles"},{"key":"bibr5-56828","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-008-9105-8"},{"issue":"5","key":"bibr6-56828","first-page":"1131","volume":"34","author":"Hori Y.","year":"1998","journal-title":"Traction control of electric vehicle: Basic experimental results using the test ev \u201cuot electric march\u201d"},{"issue":"2","key":"bibr7-56828","first-page":"366","volume":"22","author":"Ojeda L.","year":"2006","journal-title":"Current-based slippage detection and odometry correction for mobile robots and planetary rovers"},{"issue":"2","key":"bibr8-56828","first-page":"271","volume":"7","author":"Unsal C.","year":"1999","journal-title":"Sliding mode measurement feedback control for antilock braking systems"},{"key":"bibr9-56828","doi-asserted-by":"publisher","DOI":"10.1002\/eej.1033"},{"key":"bibr10-56828","unstructured":"Miyamoto Tetsuya, Hori Yoichi. Adhesion control of ev based on disturbance observer. IEE of Japan Technical Meeting Record, pages 49\u201354, 2000."},{"key":"bibr11-56828","unstructured":"Kodama Lianbing Li Shinya, Hori Yoichi. Back-emf based slip prevention controller for ev utilizing characteristics of dc motor. 2006."},{"key":"bibr12-56828","doi-asserted-by":"crossref","first-page":"26","DOI":"10.1080\/09398368.2001.11463493","volume":"11","author":"Shin-Ichiro Sakai","year":"2000","journal-title":"EPE Journal"},{"key":"bibr13-56828","doi-asserted-by":"publisher","DOI":"10.1002\/eej.1113"},{"key":"bibr14-56828","doi-asserted-by":"crossref","unstructured":"Kodama S., Li Lianbing, Hori Y. Skid prevention for evs based on the emulation of torque characteristics of separately-wound dc motor. 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