{"id":"https://openalex.org/W4411250298","doi":"https://doi.org/10.1080/01691864.2025.2517204","title":"An approach based on B-spline quaternion curves for planning the orientation trajectories of spray-painting robots","display_name":"An approach based on B-spline quaternion curves for planning the orientation trajectories of spray-painting robots","publication_year":2025,"publication_date":"2025-06-03","ids":{"openalex":"https://openalex.org/W4411250298","doi":"https://doi.org/10.1080/01691864.2025.2517204"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2025.2517204","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2025.2517204","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5097333048","display_name":"Andrea Vegnaduzzo","orcid":null},"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":"Andrea Vegnaduzzo","raw_affiliation_strings":["University of Udine","Polytechnic Department of Engineering and Architecture, University of Udine, Udine, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Udine","institution_ids":["https://openalex.org/I129043915"]},{"raw_affiliation_string":"Polytechnic Department of Engineering and Architecture, University of Udine, Udine, Italy","institution_ids":["https://openalex.org/I129043915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075963224","display_name":"Lorenzo Scalera","orcid":"https://orcid.org/0000-0002-0770-0275"},"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":true,"raw_author_name":"Lorenzo Scalera","raw_affiliation_strings":["University of Udine","Polytechnic Department of Engineering and Architecture, University of Udine, Udine, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Udine","institution_ids":["https://openalex.org/I129043915"]},{"raw_affiliation_string":"Polytechnic Department of Engineering and Architecture, University of Udine, Udine, Italy","institution_ids":["https://openalex.org/I129043915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068213171","display_name":"Daniele Pillan","orcid":null},"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"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["IT","US"],"is_corresponding":false,"raw_author_name":"Daniele Pillan","raw_affiliation_strings":["CMA Robotics S.p.A","CMA Robotics S.p.A., Pavia di Udine, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CMA Robotics S.p.A","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"CMA Robotics S.p.A., Pavia di Udine, Italy","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":"Alessandro Gasparetto","raw_affiliation_strings":["University of Udine","Polytechnic Department of Engineering and Architecture, University of Udine, Udine, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Udine","institution_ids":["https://openalex.org/I129043915"]},{"raw_affiliation_string":"Polytechnic Department of Engineering and Architecture, University of Udine, Udine, Italy","institution_ids":["https://openalex.org/I129043915"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5075963224"],"corresponding_institution_ids":["https://openalex.org/I129043915"],"apc_list":null,"apc_paid":null,"fwci":1.9246,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.83456742,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"39","issue":"11","first_page":"631","last_page":"646"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9901999831199646,"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/T13579","display_name":"Image and Video Stabilization","score":0.9603999853134155,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.7722882032394409},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6008467674255371},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.563724160194397},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5242198705673218},{"id":"https://openalex.org/keywords/spline","display_name":"Spline (mechanical)","score":0.5214231014251709},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5020763874053955},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42904362082481384},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35916921496391296},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3495219349861145},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.23432689905166626},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.20849019289016724}],"concepts":[{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.7722882032394409},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6008467674255371},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.563724160194397},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5242198705673218},{"id":"https://openalex.org/C10390562","wikidata":"https://www.wikidata.org/wiki/Q581809","display_name":"Spline (mechanical)","level":2,"score":0.5214231014251709},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5020763874053955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42904362082481384},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35916921496391296},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3495219349861145},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.23432689905166626},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.20849019289016724}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/01691864.2025.2517204","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2025.2517204","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:air.uniud.it:11390/1307934","is_oa":false,"landing_page_url":"https://hdl.handle.net/11390/1307934","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":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7099999785423279}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W76980395","https://openalex.org/W1527786550","https://openalex.org/W1567946086","https://openalex.org/W2012294177","https://openalex.org/W2014081690","https://openalex.org/W2032542754","https://openalex.org/W2060120697","https://openalex.org/W2076231474","https://openalex.org/W2116334708","https://openalex.org/W2168720422","https://openalex.org/W2201388961","https://openalex.org/W2209993346","https://openalex.org/W2225813005","https://openalex.org/W2582782283","https://openalex.org/W2613924951","https://openalex.org/W2739313804","https://openalex.org/W2751058573","https://openalex.org/W2784246704","https://openalex.org/W2810784210","https://openalex.org/W2888935559","https://openalex.org/W2896245033","https://openalex.org/W2947223272","https://openalex.org/W2995419127","https://openalex.org/W3029631204","https://openalex.org/W3044527061","https://openalex.org/W4205362845","https://openalex.org/W4205750219","https://openalex.org/W4213187341","https://openalex.org/W4226238043","https://openalex.org/W4229693516","https://openalex.org/W4298623021","https://openalex.org/W4300054450","https://openalex.org/W4387143419","https://openalex.org/W4388104835","https://openalex.org/W4389280064","https://openalex.org/W6687873984"],"related_works":["https://openalex.org/W3127350447","https://openalex.org/W3108700312","https://openalex.org/W4225472102","https://openalex.org/W2382948573","https://openalex.org/W2887325221","https://openalex.org/W2084651007","https://openalex.org/W2184550115","https://openalex.org/W3121191907","https://openalex.org/W2076146791","https://openalex.org/W1558326768"],"abstract_inverted_index":{"Planning":[0],"smooth":[1],"orientation":[2,39,99,197],"trajectories":[3,40],"is":[4,75],"a":[5,34,59,79,130,134],"complex":[6],"challenge":[7],"in":[8,20,82,144,154],"robotic":[9],"spray":[10,162],"painting,":[11,163],"especially":[12],"due":[13],"to":[14,17,57,90,128,184],"the":[15,38,66,70,93,111,125,138,141,172,176,180,185,191,196],"need":[16],"ensure":[18],"continuity":[19,153],"velocity":[21,155,178],"and":[22,54,156,168],"acceleration":[23],"while":[24,164],"avoiding":[25],"singularities":[26],"associated":[27,106],"with":[28,50,78,107,119],"Euler":[29,88,108],"angles.":[30,109],"This":[31],"paper":[32],"introduces":[33],"method":[35],"for":[36,98,159],"planning":[37],"of":[41,62,95,122,133,140,175,179],"spray-painting":[42,117],"robots.":[43],"The":[44,73,148],"proposed":[45,142],"approach":[46,74,149],"leverages":[47],"cubic":[48],"B-splines":[49],"cumulative":[51],"basis":[52],"functions":[53],"unit":[55,96],"quaternions":[56,97],"achieve":[58],"global":[60],"interpolation":[61],"input":[63,146],"orientations,":[64],"guiding":[65],"robot":[67,118,181],"tool":[68],"along":[69],"required":[71],"path.":[72],"first":[76],"compared":[77],"standard":[80],"strategy":[81,143],"which":[83],"orientations":[84],"are":[85],"expressed":[86],"as":[87],"angles,":[89],"demonstrate":[91],"that":[92],"use":[94],"representation":[100],"helps":[101],"circumvent":[102],"potential":[103],"singularity":[104],"issues":[105],"Then,":[110],"experimental":[112],"validation":[113],"on":[114],"an":[115],"industrial":[116,161],"six":[120],"degrees":[121],"freedom,":[123],"following":[124],"trajectory":[126],"needed":[127],"paint":[129],"three-dimensional":[131],"model":[132],"car":[135,192],"bumper,":[136],"illustrates":[137],"effectiveness":[139],"approximating":[145],"orientations.":[147],"also":[150],"allows":[151],"maintaining":[152],"acceleration,":[157],"crucial":[158],"successful":[160],"meeting":[165],"joint":[166],"velocities":[167],"accelerations":[169],"limits.":[170],"Furthermore,":[171],"maximum":[173],"variation":[174],"tangential":[177],"end-effector,":[182],"relative":[183],"imposed":[186],"value,":[187],"reaches":[188],"4%":[189],"near":[190],"bumper":[193],"headlights,":[194],"where":[195],"changes":[198],"rapidly.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-06-15T08:34:33.830935","created_date":"2025-10-10T00:00:00"}