{"id":"https://openalex.org/W2097945661","doi":"https://doi.org/10.1017/s0263574714002239","title":"Optimal trajectory planning for nonlinear systems: robust and constrained solution","display_name":"Optimal trajectory planning for nonlinear systems: robust and constrained solution","publication_year":2014,"publication_date":"2014-08-15","ids":{"openalex":"https://openalex.org/W2097945661","doi":"https://doi.org/10.1017/s0263574714002239","mag":"2097945661"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574714002239","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714002239","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5048282687","display_name":"Paolo Boscariol","orcid":"https://orcid.org/0000-0002-8032-5272"},"institutions":[{"id":"https://openalex.org/I129043915","display_name":"University of Udine","ror":"https://ror.org/05ht0mh31","country_code":"IT","type":"education","lineage":["https://openalex.org/I129043915"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"P. Boscariol","raw_affiliation_strings":["Dipartimento di Ingegneria Elettrica,Gestionale e Meccanica University of Udine,Italy Via delle Scienze 208,33100 Udine"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Elettrica,Gestionale e Meccanica University of Udine,Italy Via delle Scienze 208,33100 Udine","institution_ids":["https://openalex.org/I129043915"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029638799","display_name":"Alessandro Gasparetto","orcid":"https://orcid.org/0000-0001-9902-9783"},"institutions":[{"id":"https://openalex.org/I129043915","display_name":"University of Udine","ror":"https://ror.org/05ht0mh31","country_code":"IT","type":"education","lineage":["https://openalex.org/I129043915"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"A. Gasparetto","raw_affiliation_strings":["Dipartimento di Ingegneria Elettrica,Gestionale e Meccanica University of Udine,Italy Via delle Scienze 208,33100 Udine"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Elettrica,Gestionale e Meccanica University of Udine,Italy Via delle Scienze 208,33100 Udine","institution_ids":["https://openalex.org/I129043915"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4104,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.71014493,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"34","issue":"6","first_page":"1243","last_page":"1259"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9987999796867371,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robustness","display_name":"Robustness (evolution)","score":0.6730256676673889},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6729009747505188},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5931831002235413},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5654463768005371},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5421273708343506},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5340479612350464},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.424103319644928},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4127890467643738},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40477097034454346},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38957738876342773},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.3771682679653168},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07223707437515259}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6730256676673889},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6729009747505188},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5931831002235413},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5654463768005371},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5421273708343506},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5340479612350464},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.424103319644928},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4127890467643738},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40477097034454346},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38957738876342773},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3771682679653168},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07223707437515259},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1017/s0263574714002239","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714002239","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:air.uniud.it:11390/1086206","is_oa":false,"landing_page_url":"http://hdl.handle.net/11390/1086206","pdf_url":null,"source":{"id":"https://openalex.org/S4306401163","display_name":"Institutional Research Information System (University of Udine)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I129043915","host_organization_name":"University of Udine","host_organization_lineage":["https://openalex.org/I129043915"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:www.research.unipd.it:11577/3204935","is_oa":false,"landing_page_url":"https://www.cambridge.org/core/journals/robotica/article/optimal-trajectory-planning-for-nonlinear-systems-robust-and-constrained-solution/4DA21CA0533F905764778561E16FEC47","pdf_url":null,"source":{"id":"https://openalex.org/S4377196283","display_name":"Research Padua  Archive (University of Padua)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"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":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.5299999713897705,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W565679989","https://openalex.org/W1560270123","https://openalex.org/W1564360448","https://openalex.org/W1587799944","https://openalex.org/W1587859748","https://openalex.org/W1630506327","https://openalex.org/W1767767473","https://openalex.org/W1827199899","https://openalex.org/W1862777880","https://openalex.org/W1897023352","https://openalex.org/W1945317924","https://openalex.org/W1981400387","https://openalex.org/W1982447964","https://openalex.org/W1989368024","https://openalex.org/W1995090200","https://openalex.org/W1999982311","https://openalex.org/W2005653251","https://openalex.org/W2011390951","https://openalex.org/W2017507927","https://openalex.org/W2035846320","https://openalex.org/W2040164343","https://openalex.org/W2055014394","https://openalex.org/W2059528313","https://openalex.org/W2078576877","https://openalex.org/W2082138626","https://openalex.org/W2091988828","https://openalex.org/W2093557451","https://openalex.org/W2094531842","https://openalex.org/W2099269638","https://openalex.org/W2099915711","https://openalex.org/W2116154037","https://openalex.org/W2122040504","https://openalex.org/W2132029887","https://openalex.org/W2145838283","https://openalex.org/W2148070153","https://openalex.org/W2152385508","https://openalex.org/W2154687443","https://openalex.org/W2169723076","https://openalex.org/W2184809358","https://openalex.org/W2225813005","https://openalex.org/W2257946200","https://openalex.org/W2312772564","https://openalex.org/W2505474963","https://openalex.org/W2798994937","https://openalex.org/W2801475537","https://openalex.org/W3206777520","https://openalex.org/W4205780965","https://openalex.org/W6682505709","https://openalex.org/W6751160297"],"related_works":["https://openalex.org/W2067224748","https://openalex.org/W2164326006","https://openalex.org/W2099458592","https://openalex.org/W2123766446","https://openalex.org/W2069603876","https://openalex.org/W2157091192","https://openalex.org/W2512701963","https://openalex.org/W1489163256","https://openalex.org/W200465068","https://openalex.org/W3174878077"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"presents":[3],"a":[4,41,74,83],"solution":[5,24,49],"to":[6,40,62],"the":[7,26,32,51,68,90,98],"problem":[8],"of":[9,50,57,70,100],"generating":[10],"constrained":[11],"robust":[12],"trajectory":[13],"planning":[14],"for":[15],"nonlinear":[16],"mechatronic":[17],"systems.":[18],"By":[19],"using":[20,82],"an":[21],"indirect":[22],"variational":[23],"method,":[25],"necessary":[27],"optimality":[28],"conditions":[29],"deriving":[30],"from":[31],"Pontryagin's":[33],"minimum":[34],"principle":[35],"are":[36],"imposed,":[37],"and":[38,96],"lead":[39],"differential":[42],"Two-Point":[43],"Boundary":[44],"Value":[45],"Problem":[46],"(TPBVP);":[47],"numerical":[48],"latter":[52],"is":[53,65,80],"accomplished":[54],"by":[55],"means":[56],"collocation":[58],"techniques.":[59],"The":[60],"robustness":[61,91],"parametric":[63],"mismatches":[64],"obtained":[66,81],"trough":[67],"use":[69],"sensitivity":[71],"functions,":[72],"while":[73],"hard":[75],"constraint":[76],"on":[77,102],"actuator":[78,103],"effort":[79,104],"smoothing":[84],"technique.":[85],"Numerical":[86],"results":[87],"shows":[88],"that":[89,97],"can":[92],"be":[93],"greatly":[94],"improved,":[95],"inclusion":[99],"constraints":[101],"does":[105],"not":[106],"affect":[107],"it.":[108]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}