{"id":"https://openalex.org/W2095888426","doi":"https://doi.org/10.1109/aim.2013.6584171","title":"Constrained real-time model-predictive reference trajectory planning for rotary cranes","display_name":"Constrained real-time model-predictive reference trajectory planning for rotary cranes","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W2095888426","doi":"https://doi.org/10.1109/aim.2013.6584171","mag":"2095888426"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2013.6584171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2013.6584171","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics","raw_type":"proceedings-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/A5059428257","display_name":"Ulf Schaper","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Ulf Schaper","raw_affiliation_strings":["Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","Institute for Systems Dynamics; University of Stuttgart; Stuttgart Germany"],"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Institute for Systems Dynamics; University of Stuttgart; Stuttgart Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014993838","display_name":"Eckhard Arnold","orcid":"https://orcid.org/0000-0002-0143-9846"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Eckhard Arnold","raw_affiliation_strings":["Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","Institute for Systems Dynamics; University of Stuttgart; Stuttgart Germany"],"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Institute for Systems Dynamics; University of Stuttgart; Stuttgart Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054507125","display_name":"Oliver Sawodny","orcid":"https://orcid.org/0000-0002-6910-2473"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Sawodny","raw_affiliation_strings":["Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","Institute for Systems Dynamics; University of Stuttgart; Stuttgart Germany"],"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Institute for Systems Dynamics; University of Stuttgart; Stuttgart Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081184867","display_name":"Klaus Schneider","orcid":"https://orcid.org/0000-0002-1305-7132"},"institutions":[{"id":"https://openalex.org/I4210089975","display_name":"Liebherr (Austria)","ror":"https://ror.org/00ag1vy72","country_code":"AT","type":"company","lineage":["https://openalex.org/I4210089975","https://openalex.org/I4210098163"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Klaus Schneider","raw_affiliation_strings":["Liebherr Werk Nenzing GmbH, Austria","Drive Syst., Liebherr Werk Nenzing GmbH, Austria"],"affiliations":[{"raw_affiliation_string":"Liebherr Werk Nenzing GmbH, Austria","institution_ids":["https://openalex.org/I4210089975"]},{"raw_affiliation_string":"Drive Syst., Liebherr Werk Nenzing GmbH, Austria","institution_ids":["https://openalex.org/I4210089975"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5059428257"],"corresponding_institution_ids":["https://openalex.org/I100066346"],"apc_list":null,"apc_paid":null,"fwci":2.4324,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.88655796,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"680","last_page":"685"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9990000128746033,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/trajectory","display_name":"Trajectory","score":0.8825424909591675},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7481307983398438},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.6816450357437134},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.574020504951477},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.49895501136779785},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.49840450286865234},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4651672840118408},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.432993620634079},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.427166610956192},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4102054238319397},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3375024199485779},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1269257664680481},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07623380422592163}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8825424909591675},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7481307983398438},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.6816450357437134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.574020504951477},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49895501136779785},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.49840450286865234},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4651672840118408},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.432993620634079},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.427166610956192},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4102054238319397},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3375024199485779},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1269257664680481},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07623380422592163},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical 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":1,"locations":[{"id":"doi:10.1109/aim.2013.6584171","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2013.6584171","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W172905222","https://openalex.org/W1603657390","https://openalex.org/W1966398428","https://openalex.org/W1976475359","https://openalex.org/W1996071470","https://openalex.org/W2011259211","https://openalex.org/W2027191849","https://openalex.org/W2036418410","https://openalex.org/W2040164343","https://openalex.org/W2052731227","https://openalex.org/W2066792530","https://openalex.org/W2080514141","https://openalex.org/W2086867325","https://openalex.org/W2152495729","https://openalex.org/W2159713423","https://openalex.org/W3152121160","https://openalex.org/W4205731808","https://openalex.org/W6649288023"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2982600058","https://openalex.org/W1511742391","https://openalex.org/W2373557848","https://openalex.org/W2002488624","https://openalex.org/W2088970451","https://openalex.org/W4309225183","https://openalex.org/W2157008402","https://openalex.org/W2592302855","https://openalex.org/W48160925"],"abstract_inverted_index":{"Two-degree-of-freedom":[0],"control":[1,16,28,98,122],"(2DOF),":[2],"i.":[3],"e.":[4],"a":[5,31,94,137],"combination":[6],"of":[7,36,71,88],"feedforward":[8],"and":[9,64,109],"feedback":[10],"control,":[11],"can":[12,53,65],"give":[13],"good":[14],"tracking":[15,62],"performance":[17,63],"on":[18,136],"many":[19],"large-scale":[20],"robotic":[21],"systems":[22],"such":[23],"as":[24,132,134],"cranes.":[25],"Every":[26],"2DOF":[27],"system":[29,47],"needs":[30,78],"reference":[32,38,44],"trajectory.":[33],"The":[34,126],"generation":[35,77],"this":[37,92],"trajectory":[39,76,99],"is":[40,104,116,124],"crucial:":[41],"Too":[42],"slow":[43],"trajectories":[45,52],"decrease":[46],"performance,":[48],"while":[49],"too":[50],"aggressive":[51],"easily":[54],"violate":[55],"state":[56,110],"or":[57],"input":[58,108],"constraints.":[59],"This":[60],"degrades":[61],"even":[66],"cause":[67],"accidents.":[68],"In":[69,91],"case":[70,119],"operator-controlled":[72],"rotary":[73,102],"cranes,":[74],"the":[75,86],"to":[79],"be":[80],"done":[81],"in":[82,118],"real-time":[83,95],"which":[84],"limits":[85],"number":[87],"available":[89],"algorithms.":[90],"contribution,":[93],"repetitive":[96],"optimal":[97,121],"planner":[100],"for":[101],"cranes":[103],"presented.":[105],"It":[106],"takes":[107],"constraints":[111],"into":[112],"account.":[113],"A":[114],"fallback-strategy":[115],"provided":[117],"no":[120],"solution":[123],"found.":[125],"results":[127],"are":[128],"validated":[129],"with":[130],"simulations":[131],"well":[133],"measurements":[135],"Liebherr":[138],"LHM":[139],"420":[140],"mobile":[141],"harbour":[142],"crane.":[143]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}