{"id":"https://openalex.org/W4392719851","doi":"https://doi.org/10.1007/978-3-031-55000-3_12","title":"Smooth Real-Time Motion Planning Based on\u00a0a\u00a0Cascade Dual-Quaternion Screw-Geometry MPC","display_name":"Smooth Real-Time Motion Planning Based on\u00a0a\u00a0Cascade Dual-Quaternion Screw-Geometry MPC","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4392719851","doi":"https://doi.org/10.1007/978-3-031-55000-3_12"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-031-55000-3_12","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-031-55000-3_12","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010023377","display_name":"Ainoor Teimoorzadeh","orcid":"https://orcid.org/0000-0002-4831-8347"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Ainoor Teimoorzadeh","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, 80992, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, 80992, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031772323","display_name":"Frederico Fernandes Afonso Silva","orcid":"https://orcid.org/0000-0003-2130-3636"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frederico Fernandes Afonso Silva","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, 80992, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, 80992, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040790541","display_name":"Luis Figueredo","orcid":"https://orcid.org/0000-0002-0759-3000"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Luis F. C. Figueredo","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, 80992, Munich, Germany","Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, 80992, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, 80992, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence, Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, 80992, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5010023377"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11383513,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"164","last_page":"180"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.998199999332428,"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/quaternion","display_name":"Quaternion","score":0.835890531539917},{"id":"https://openalex.org/keywords/dual-quaternion","display_name":"Dual quaternion","score":0.8159641027450562},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6645507216453552},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.6223927736282349},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5231469869613647},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.49297237396240234},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.490562379360199},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.4786432981491089},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4723297953605652},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44133132696151733},{"id":"https://openalex.org/keywords/twist","display_name":"Twist","score":0.4359979033470154},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.41984400153160095},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4182067811489105},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3745594620704651},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3497290015220642},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2301652431488037},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2209600806236267},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1426900029182434},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10907331109046936}],"concepts":[{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.835890531539917},{"id":"https://openalex.org/C145941777","wikidata":"https://www.wikidata.org/wiki/Q5310237","display_name":"Dual quaternion","level":3,"score":0.8159641027450562},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6645507216453552},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.6223927736282349},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5231469869613647},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.49297237396240234},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.490562379360199},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.4786432981491089},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4723297953605652},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44133132696151733},{"id":"https://openalex.org/C2776196297","wikidata":"https://www.wikidata.org/wiki/Q17138781","display_name":"Twist","level":2,"score":0.4359979033470154},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.41984400153160095},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4182067811489105},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3745594620704651},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3497290015220642},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2301652431488037},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2209600806236267},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1426900029182434},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10907331109046936},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical 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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/978-3-031-55000-3_12","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-031-55000-3_12","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"},{"id":"pmh:oai:pure.atira.dk:publications/b3a3ffeb-efb2-4128-a94d-22dcf62b8628","is_oa":false,"landing_page_url":"https://research.manchester.ac.uk/en/publications/b3a3ffeb-efb2-4128-a94d-22dcf62b8628","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Teimoorzadeh, A, Fernandes Afonso Silva, F, Figueredo, L F C & Haddadin, S 2024, Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC. in C Piazza, P Capsi-Morales, L Figueredo, M Keppler & H Sch\u00fctze (eds), Human-Friendly Robotics 2023 : HFR: 16th International Workshop on Human-Friendly Robotics. Springer Proceedings in Advanced Robotics, vol. 29, Springer Cham, Cham, pp. 164-180, 16th International Workshop on Human-Friendly Robotics, Lugano, Switzerland, 30/09/23. https://doi.org/10.1007/978-3-031-55000-3_12","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6899999976158142,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W19375919","https://openalex.org/W178401335","https://openalex.org/W281943252","https://openalex.org/W289820477","https://openalex.org/W1542199798","https://openalex.org/W1976528724","https://openalex.org/W1978956894","https://openalex.org/W2015440243","https://openalex.org/W2032207585","https://openalex.org/W2039050554","https://openalex.org/W2052750413","https://openalex.org/W2058683560","https://openalex.org/W2068210788","https://openalex.org/W2082511574","https://openalex.org/W2083802218","https://openalex.org/W2091310900","https://openalex.org/W2091847903","https://openalex.org/W2109060126","https://openalex.org/W2120530757","https://openalex.org/W2128226018","https://openalex.org/W2142179155","https://openalex.org/W2559336140","https://openalex.org/W2741222326","https://openalex.org/W2778975529","https://openalex.org/W2797398840","https://openalex.org/W2798291861","https://openalex.org/W2908915551","https://openalex.org/W2963374095","https://openalex.org/W3081506817","https://openalex.org/W3100215339","https://openalex.org/W3102175615","https://openalex.org/W3129923513","https://openalex.org/W3134085503","https://openalex.org/W3152370858","https://openalex.org/W3185285411","https://openalex.org/W3186836061","https://openalex.org/W3199630236","https://openalex.org/W3205111566","https://openalex.org/W3212387122","https://openalex.org/W4223435116","https://openalex.org/W4254475186","https://openalex.org/W4285102160"],"related_works":["https://openalex.org/W2523915674","https://openalex.org/W2888751871","https://openalex.org/W570369945","https://openalex.org/W102224637","https://openalex.org/W2185573392","https://openalex.org/W3127350447","https://openalex.org/W2315718763","https://openalex.org/W4321633639","https://openalex.org/W205976080","https://openalex.org/W4361860244"],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-01-22T23:29:09.771500","created_date":"2025-10-10T00:00:00"}