{"id":"https://openalex.org/W1795906905","doi":"https://doi.org/10.1023/a:1007905817998","title":"Globally Optimal Trajectory Planning for Redundant Manipulators using State Space Augmentation Method","display_name":"Globally Optimal Trajectory Planning for Redundant Manipulators using State Space Augmentation Method","publication_year":1997,"publication_date":"1997-05-01","ids":{"openalex":"https://openalex.org/W1795906905","doi":"https://doi.org/10.1023/a:1007905817998","mag":"1795906905"},"language":"en","primary_location":{"id":"doi:10.1023/a:1007905817998","is_oa":false,"landing_page_url":"https://doi.org/10.1023/a:1007905817998","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 and 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/A5103293806","display_name":"Zhen\u2010Lei Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zhen-Lei Zhou","raw_affiliation_strings":["Robotics and Control Laboratory, School of Engineering, Catholic University of America, Washington DC, 20064","Robotics and Control Laboratory, School of Engineering, Catholic University of America, Washington DC,"],"affiliations":[{"raw_affiliation_string":"Robotics and Control Laboratory, School of Engineering, Catholic University of America, Washington DC, 20064","institution_ids":["https://openalex.org/I84470341"]},{"raw_affiliation_string":"Robotics and Control Laboratory, School of Engineering, Catholic University of America, Washington DC,","institution_ids":["https://openalex.org/I84470341"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112557493","display_name":"Charles C. Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Charles C. Nguyen","raw_affiliation_strings":["Robotics and Control Laboratory, School of Engineering, Catholic University of America, Washington DC, 20064","Robotics and Control Laboratory, School of Engineering, Catholic University of America, Washington DC,"],"affiliations":[{"raw_affiliation_string":"Robotics and Control Laboratory, School of Engineering, Catholic University of America, Washington DC, 20064","institution_ids":["https://openalex.org/I84470341"]},{"raw_affiliation_string":"Robotics and Control Laboratory, School of Engineering, Catholic University of America, Washington DC,","institution_ids":["https://openalex.org/I84470341"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103293806"],"corresponding_institution_ids":["https://openalex.org/I84470341"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":0.7916,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.69535348,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"19","issue":"1","first_page":"105","last_page":"117"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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":0.9968000054359436,"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":0.9955999851226807,"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/singularity","display_name":"Singularity","score":0.6135452389717102},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.564125657081604},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5427331328392029},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5214685201644897},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.511881947517395},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.48191550374031067},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.47371166944503784},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.45382487773895264},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4536750018596649},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4531533718109131},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4329891800880432},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.42829155921936035},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.42788878083229065},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3678956925868988},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.32881373167037964},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2813722491264343},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2704424262046814},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2595766484737396},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14648005366325378},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13664188981056213},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12743961811065674},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09435248374938965},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0801304280757904}],"concepts":[{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.6135452389717102},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.564125657081604},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5427331328392029},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5214685201644897},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.511881947517395},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.48191550374031067},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.47371166944503784},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.45382487773895264},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4536750018596649},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4531533718109131},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4329891800880432},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.42829155921936035},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.42788878083229065},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3678956925868988},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32881373167037964},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2813722491264343},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2704424262046814},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2595766484737396},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14648005366325378},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13664188981056213},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12743961811065674},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09435248374938965},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0801304280757904},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1023/a:1007905817998","is_oa":false,"landing_page_url":"https://doi.org/10.1023/a:1007905817998","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 and Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1510918013","https://openalex.org/W1587799944","https://openalex.org/W1982442957","https://openalex.org/W1994875265","https://openalex.org/W2023248353","https://openalex.org/W2049410986","https://openalex.org/W2110005969","https://openalex.org/W2119403459","https://openalex.org/W2122706335","https://openalex.org/W2129644801","https://openalex.org/W2144230201","https://openalex.org/W2158801793","https://openalex.org/W2244050683","https://openalex.org/W2325850497","https://openalex.org/W2796837256","https://openalex.org/W3022423118","https://openalex.org/W3168095073","https://openalex.org/W3206777520"],"related_works":["https://openalex.org/W2005695917","https://openalex.org/W2333571655","https://openalex.org/W3004930912","https://openalex.org/W2104320275","https://openalex.org/W2111158727","https://openalex.org/W1510039162","https://openalex.org/W2112736381","https://openalex.org/W2106317420","https://openalex.org/W2120794627","https://openalex.org/W1981849123"],"abstract_inverted_index":null,"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2016-06-24T00:00:00"}