{"id":"https://openalex.org/W2605923913","doi":"https://doi.org/10.1007/s10846-017-0556-z","title":"Abnormal Optimal Trajectory Planning of Multi-Body Systems in the Presence of Holonomic and Nonholonomic Constraints","display_name":"Abnormal Optimal Trajectory Planning of Multi-Body Systems in the Presence of Holonomic and Nonholonomic Constraints","publication_year":2017,"publication_date":"2017-04-17","ids":{"openalex":"https://openalex.org/W2605923913","doi":"https://doi.org/10.1007/s10846-017-0556-z","mag":"2605923913"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-017-0556-z","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-017-0556-z","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","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/A5043808538","display_name":"Andrea L\u2019Afflitto","orcid":"https://orcid.org/0000-0001-5704-4088"},"institutions":[{"id":"https://openalex.org/I8692664","display_name":"University of Oklahoma","ror":"https://ror.org/02aqsxs83","country_code":"US","type":"education","lineage":["https://openalex.org/I8692664"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Andrea L\u2019Afflitto","raw_affiliation_strings":["School of Aerospace and Mechanical Engineering, The University of Oklahoma, Norman, OK, 73071, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aerospace and Mechanical Engineering, The University of Oklahoma, Norman, OK, 73071, USA","institution_ids":["https://openalex.org/I8692664"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033711937","display_name":"Wassim M. Haddad","orcid":"https://orcid.org/0000-0002-4362-3043"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wassim M. Haddad","raw_affiliation_strings":["School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5043808538"],"corresponding_institution_ids":["https://openalex.org/I8692664"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":null,"fwci":0.6256,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.68413182,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"89","issue":"1-2","first_page":"51","last_page":"67"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9997000098228455,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9997000098228455,"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":0.9768999814987183,"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/T12158","display_name":"Guidance and Control Systems","score":0.9598000049591064,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/holonomic","display_name":"Holonomic","score":0.8674893379211426},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.7975859642028809},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.742293655872345},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6431031823158264},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.6036179065704346},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.5444386005401611},{"id":"https://openalex.org/keywords/pontryagins-minimum-principle","display_name":"Pontryagin's minimum principle","score":0.48790261149406433},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.460082083940506},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4437265992164612},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.44285908341407776},{"id":"https://openalex.org/keywords/hamiltonian","display_name":"Hamiltonian (control theory)","score":0.44050851464271545},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.418226033449173},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.40869683027267456},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3028034567832947},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2897689938545227},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1318320333957672},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11646214127540588},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.09198212623596191},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09091934561729431}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.8674893379211426},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7975859642028809},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.742293655872345},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6431031823158264},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.6036179065704346},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.5444386005401611},{"id":"https://openalex.org/C141803461","wikidata":"https://www.wikidata.org/wiki/Q3491629","display_name":"Pontryagin's minimum principle","level":3,"score":0.48790261149406433},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.460082083940506},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4437265992164612},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.44285908341407776},{"id":"https://openalex.org/C130787639","wikidata":"https://www.wikidata.org/wiki/Q5645293","display_name":"Hamiltonian (control theory)","level":2,"score":0.44050851464271545},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.418226033449173},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.40869683027267456},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3028034567832947},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2897689938545227},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1318320333957672},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11646214127540588},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.09198212623596191},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09091934561729431},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-017-0556-z","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-017-0556-z","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6100000143051147,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G4087985538","display_name":null,"funder_award_id":"FA9550-16-1-0100","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"}],"funders":[{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W202678205","https://openalex.org/W203496632","https://openalex.org/W598851308","https://openalex.org/W1182838307","https://openalex.org/W1444347584","https://openalex.org/W1495118766","https://openalex.org/W1557098279","https://openalex.org/W1597117929","https://openalex.org/W1810841586","https://openalex.org/W1968813919","https://openalex.org/W1976871006","https://openalex.org/W1978306906","https://openalex.org/W1983248061","https://openalex.org/W1983639748","https://openalex.org/W1984313317","https://openalex.org/W1989990825","https://openalex.org/W1991759504","https://openalex.org/W2009353114","https://openalex.org/W2020236736","https://openalex.org/W2027404227","https://openalex.org/W2033716253","https://openalex.org/W2037677074","https://openalex.org/W2054591053","https://openalex.org/W2055315817","https://openalex.org/W2062864160","https://openalex.org/W2076154074","https://openalex.org/W2083068868","https://openalex.org/W2090451298","https://openalex.org/W2118051419","https://openalex.org/W2144413776","https://openalex.org/W2145061311","https://openalex.org/W2145364805","https://openalex.org/W2152576925","https://openalex.org/W2161960189","https://openalex.org/W2170599040","https://openalex.org/W2170995006","https://openalex.org/W2312644716","https://openalex.org/W2313740293","https://openalex.org/W2467377838","https://openalex.org/W2619389816","https://openalex.org/W2798500587","https://openalex.org/W2914224524","https://openalex.org/W2962783108","https://openalex.org/W2995261063","https://openalex.org/W3019832373","https://openalex.org/W3098037937","https://openalex.org/W3142071609","https://openalex.org/W3206777520","https://openalex.org/W4206456012","https://openalex.org/W4236400251","https://openalex.org/W4285719527","https://openalex.org/W4292402580","https://openalex.org/W4296154082","https://openalex.org/W4365799884"],"related_works":["https://openalex.org/W2154502479","https://openalex.org/W2127776540","https://openalex.org/W76235543","https://openalex.org/W45593259","https://openalex.org/W641237144","https://openalex.org/W1973747674","https://openalex.org/W4378942199","https://openalex.org/W2370863384","https://openalex.org/W2018918536","https://openalex.org/W2183446508"],"abstract_inverted_index":null,"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}