{"id":"https://openalex.org/W2751073844","doi":"https://doi.org/10.1109/aim.2017.8014185","title":"Fast and close to optimal trajectory generation for articulated robots in reaching motions","display_name":"Fast and close to optimal trajectory generation for articulated robots in reaching motions","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2751073844","doi":"https://doi.org/10.1109/aim.2017.8014185","mag":"2751073844"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2017.8014185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014185","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5054532074","display_name":"Khoi Hoang Dinh","orcid":"https://orcid.org/0000-0002-3738-9959"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Khoi Hoang Dinh","raw_affiliation_strings":["Technische Universitat Munchen, Munchen, Bayern, DE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universitat Munchen, Munchen, Bayern, DE","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030534725","display_name":"Philipp Weiler","orcid":"https://orcid.org/0000-0002-0992-7043"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Philipp Weiler","raw_affiliation_strings":["Technische Universitat Munchen, Munchen, Bayern, DE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universitat Munchen, Munchen, Bayern, DE","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032338124","display_name":"Marion Leibold","orcid":"https://orcid.org/0000-0002-2802-5600"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marion Leibold","raw_affiliation_strings":["Technische Universitat Munchen, Munchen, Bayern, DE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universitat Munchen, Munchen, Bayern, DE","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061769472","display_name":"Dirk Wollherr","orcid":"https://orcid.org/0000-0003-2810-6790"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Wollherr","raw_affiliation_strings":["Chair of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen (TUM), Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering (LSR), Technische Universit\u00e4t M\u00fcnchen (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"35","issue":null,"first_page":"1221","last_page":"1227"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976000189781189,"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/trajectory","display_name":"Trajectory","score":0.8322786092758179},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7074785232543945},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6508210301399231},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.6101792454719543},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5952416658401489},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5828576683998108},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.574792206287384},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5618450045585632},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5268753170967102},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.43700915575027466},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4356391429901123},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4352640211582184},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41315871477127075},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36831384897232056},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.341330349445343},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21712055802345276},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20652437210083008},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17525321245193481},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1438136100769043}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8322786092758179},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7074785232543945},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6508210301399231},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.6101792454719543},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5952416658401489},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5828576683998108},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.574792206287384},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5618450045585632},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5268753170967102},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.43700915575027466},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4356391429901123},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4352640211582184},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41315871477127075},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36831384897232056},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.341330349445343},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21712055802345276},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20652437210083008},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17525321245193481},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1438136100769043},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aim.2017.8014185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014185","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1380515","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1380515","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.699999988079071,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1532111732","https://openalex.org/W1545148916","https://openalex.org/W1581179477","https://openalex.org/W1582919213","https://openalex.org/W1977164425","https://openalex.org/W2001981441","https://openalex.org/W2019965290","https://openalex.org/W2039166158","https://openalex.org/W2074274296","https://openalex.org/W2095905067","https://openalex.org/W2099893201","https://openalex.org/W2102347640","https://openalex.org/W2128990851","https://openalex.org/W2169967276","https://openalex.org/W2173568935","https://openalex.org/W2418241888","https://openalex.org/W2418545027","https://openalex.org/W2509969228","https://openalex.org/W3100966471","https://openalex.org/W3101211657","https://openalex.org/W6785321390"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2101105382","https://openalex.org/W2359353485","https://openalex.org/W2139910871","https://openalex.org/W2361427670"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"an":[3,67],"extension":[4],"to":[5,12,50,71,105,114],"a":[6,91,98],"method":[7,111],"for":[8,16,85],"fast":[9],"and":[10,25,75,97,116,126],"close":[11],"optimal":[13,118],"trajectory":[14],"generation":[15],"articulated":[17],"robots":[18],"in":[19,112,121],"the":[20,42,52,59,107],"case":[21],"where":[22,41],"dynamic":[23],"constraints":[24,80],"real-time":[26],"capability":[27],"are":[28,103],"considered.":[29],"We":[30],"aim":[31],"at":[32],"solving":[33],"reaching":[34],"motion":[35],"problems":[36],"without":[37],"pre-defined":[38],"timing":[39],"requirements,":[40],"robot":[43],"starts":[44],"from":[45],"its":[46],"current":[47],"state":[48,79],"trying":[49],"reach":[51],"final":[53,78],"desired":[54],"state.":[55],"Our":[56],"approach":[57],"combines":[58],"advantage":[60],"of":[61,94,109,123],"Sequential":[62],"Action":[63],"Control":[64],"(SAC)":[65],"with":[66],"indirect":[68],"optimization":[69],"process":[70],"further":[72],"improve":[73],"optimality":[74],"not":[76],"violate":[77],"while":[81],"still":[82],"being":[83],"applicable":[84],"online":[86],"implementation.":[87],"Simulation":[88],"results":[89],"on":[90],"2":[92],"degree":[93],"freedom":[95],"(DOF)":[96],"3":[99],"DOF":[100],"KUKA-based":[101],"platform":[102],"evaluated":[104],"show":[106],"improvement":[108],"our":[110],"comparison":[113],"SAC":[115],"other":[117],"control":[119],"methods":[120],"terms":[122],"cost":[124],"efficiency":[125],"computation":[127],"time.":[128]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}