{"id":"https://openalex.org/W3030727331","doi":"https://doi.org/10.48550/arxiv.2006.00811","title":"Time Variable Minimum Torque Trajectory Optimization for Autonomous Excavator","display_name":"Time Variable Minimum Torque Trajectory Optimization for Autonomous Excavator","publication_year":2020,"publication_date":"2020-06-01","ids":{"openalex":"https://openalex.org/W3030727331","doi":"https://doi.org/10.48550/arxiv.2006.00811","mag":"3030727331"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2006.00811","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2006.00811","pdf_url":"https://arxiv.org/pdf/2006.00811","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2006.00811","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101875726","display_name":"Yajue Yang","orcid":"https://orcid.org/0000-0002-7076-5346","observed_orcids":["https://orcid.org/0000-0002-7076-5346"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Yajue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076812698","display_name":"Jia Pan","orcid":"https://orcid.org/0000-0001-9003-2054","observed_orcids":["https://orcid.org/0000-0001-9003-2054"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pan, Jia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016889301","display_name":"Pinxin Long","orcid":"https://orcid.org/0000-0001-8440-3218","observed_orcids":["https://orcid.org/0000-0001-8440-3218"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Long, Pinxin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030165903","display_name":"Xibin Song","orcid":"https://orcid.org/0000-0001-7019-6238","observed_orcids":["https://orcid.org/0000-0001-7019-6238"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Xibin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5101843626","display_name":"Liangjun Zhang","orcid":"https://orcid.org/0000-0001-5737-2540","observed_orcids":["https://orcid.org/0000-0001-5737-2540"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Liangjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.8554999828338623,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.8554999828338623,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.06430000066757202,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.012600000016391277,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/autonomous-excavator","display_name":"autonomous excavator","score":0.9959999918937683},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"trajectory optimization","score":0.9520000219345093},{"id":"https://openalex.org/keywords/soil-tool-interaction","display_name":"soil-tool interaction","score":0.9089999794960022},{"id":"https://openalex.org/keywords/soil-properties","display_name":"soil properties","score":0.7049999833106995},{"id":"https://openalex.org/keywords/dynamic-simulation","display_name":"dynamic simulation","score":0.5669999718666077}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.9055271148681641},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8608779907226562},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.7106935977935791},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6965371966362},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6256288290023804},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6213645339012146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5671021342277527},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5348661541938782},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.49615487456321716},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.40510717034339905},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3056572675704956},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2592472434043884},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.24092283844947815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12648794054985046},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10451862215995789},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2006.00811","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2006.00811","pdf_url":"https://arxiv.org/pdf/2006.00811","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2006.00811","doi":"https://doi.org/10.48550/arxiv.2006.00811","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2006.00811","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2006.00811","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2006.00811","pdf_url":"https://arxiv.org/pdf/2006.00811","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[{"id":"https://metadata.un.org/sdg/15","score":0.5899999737739563,"display_name":"Life on land"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1481356306","https://openalex.org/W1488896703","https://openalex.org/W2000359213","https://openalex.org/W2022310661","https://openalex.org/W2080880673","https://openalex.org/W2126593948","https://openalex.org/W2132990760","https://openalex.org/W2136621952","https://openalex.org/W2142224528","https://openalex.org/W2150330033","https://openalex.org/W2151845580","https://openalex.org/W2291997148","https://openalex.org/W2728742905","https://openalex.org/W2790582530","https://openalex.org/W3105513363"],"related_works":["https://openalex.org/W2324465777","https://openalex.org/W2384763423","https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2139910871"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,52],"present":[4],"a":[5,29,54,76,94,118],"minimal":[6],"torque":[7],"and":[8,33,39,46,83,107,135],"time":[9,55,63],"variable":[10,56],"trajectory":[11,30,45,57,70],"optimization":[12,31,50,58,89],"method":[13,22,79,125],"for":[14],"autonomous":[15],"excavator":[16],"considering":[17],"the":[18,24,48,62,66,69,73,78,85,101,105,108,112],"soil-tool":[19,95],"interaction.":[20],"The":[21,114],"formulates":[23],"excavation":[25,132],"motion":[26],"generation":[27],"as":[28],"problem":[32],"takes":[34],"into":[35],"account":[36],"geometric,":[37],"kinematic":[38],"dynamics":[40],"constraints.":[41],"To":[42],"generate":[43,127],"time-efficient":[44],"improve":[47],"overall":[49],"efficiency,":[51],"propose":[53],"mechanism":[59],"so":[60],"that":[61],"intervals":[64],"between":[65],"keypoints":[67,82],"along":[68],"subject":[71],"to":[72,138],"optimization.":[74],"As":[75],"result,":[77],"uses":[80],"few":[81],"reduces":[84],"total":[86],"number":[87],"of":[88,104,111],"variables.":[90],"We":[91],"further":[92],"introduce":[93],"interaction":[96],"force":[97],"model,":[98],"which":[99,130],"considers":[100],"geometric":[102],"shape":[103],"bucket":[106],"physical":[109],"properties":[110],"soil.":[113],"experimental":[115],"result":[116],"on":[117],"high":[119],"fidelity":[120],"dynamic":[121],"simulator":[122],"shows":[123],"our":[124],"can":[126],"feasible":[128],"trajectories,":[129],"satisfy":[131],"task":[133],"constraints":[134],"are":[136],"adaptive":[137],"different":[139],"soil":[140],"conditions.":[141]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2025-10-10T00:00:00"}