{"id":"https://openalex.org/W4401794634","doi":"https://doi.org/10.1109/aim55361.2024.10636991","title":"Improving Data-based Trajectory Generation by Quadratic Programming for Redundant Mobile Manipulators<sup>*</sup>","display_name":"Improving Data-based Trajectory Generation by Quadratic Programming for Redundant Mobile Manipulators<sup>*</sup>","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4401794634","doi":"https://doi.org/10.1109/aim55361.2024.10636991"},"language":"en","primary_location":{"id":"doi:10.1109/aim55361.2024.10636991","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/aim55361.2024.10636991","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","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/A5092581218","display_name":"Alice Hierholz","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":false,"raw_author_name":"Alice Hierholz","raw_affiliation_strings":["Institute for System Dynamics, University of Stuttgart,Stuttgart,Germany,70563"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart,Stuttgart,Germany,70563","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038269213","display_name":"Andreas Gienger","orcid":"https://orcid.org/0000-0001-7878-7761"},"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":"Andreas Gienger","raw_affiliation_strings":["Institute for System Dynamics, University of Stuttgart,Stuttgart,Germany,70563"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart,Stuttgart,Germany,70563","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"last","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,70563"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for System Dynamics, University of Stuttgart,Stuttgart,Germany,70563","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12021339,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"771","last_page":"776"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9973999857902527,"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":0.74959397315979},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.6808764934539795},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5980286598205566},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.5030402541160583},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3516803979873657},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19540584087371826},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10309025645256042}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.74959397315979},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.6808764934539795},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5980286598205566},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.5030402541160583},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3516803979873657},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19540584087371826},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10309025645256042},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim55361.2024.10636991","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/aim55361.2024.10636991","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W2524241275","https://openalex.org/W2842089854","https://openalex.org/W2885010347","https://openalex.org/W2909966514","https://openalex.org/W2949676527","https://openalex.org/W3003648623","https://openalex.org/W3047385205","https://openalex.org/W3099533866","https://openalex.org/W3146824773","https://openalex.org/W3155860995","https://openalex.org/W4225759402","https://openalex.org/W4240172577","https://openalex.org/W4285281382","https://openalex.org/W4309287908","https://openalex.org/W4310472798","https://openalex.org/W4311839921","https://openalex.org/W4385482367","https://openalex.org/W6766978945"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W3036464408","https://openalex.org/W2020990755","https://openalex.org/W2377851227","https://openalex.org/W4293088966","https://openalex.org/W2366868484","https://openalex.org/W2917463375","https://openalex.org/W2155219672"],"abstract_inverted_index":{"Challenges":[0],"in":[1,4,20],"trajectory":[2,38],"generation":[3,39],"robotics":[5],"such":[6],"as":[7,94,96],"nonlinearities,":[8],"non-convex":[9],"constraints,":[10],"many":[11],"optimization":[12],"variables":[13],"and":[14,34,60,91,119],"redundancy":[15],"lead":[16],"to":[17],"new":[18],"developments":[19],"the":[21,53,57,74,84,113,116,121],"use":[22],"of":[23,31,48,55],"data-based":[24],"methods.":[25],"In":[26],"this":[27],"paper,":[28],"a":[29,32,41,104],"combination":[30],"data-":[33],"model-based":[35],"approach":[36],"for":[37,40],"redundant":[42],"mobile":[43],"manipulator":[44],"with":[45,52,108,115],"10":[46],"degrees":[47],"freedom":[49],"is":[50,70,100],"presented":[51],"goal":[54],"reducing":[56],"computational":[58,110],"cost":[59],"improving":[61],"scalability.":[62],"A":[63],"computationally":[64],"efficient":[65],"neural":[66],"network":[67],"regression":[68],"model":[69],"proposed":[71],"which":[72],"predicts":[73],"joint":[75],"trajectories":[76],"generated":[77],"from":[78],"an":[79],"optimal":[80],"control":[81],"problem":[82],"considering":[83],"system":[85,117],"equations,":[86],"redundancy,":[87],"singularities,":[88],"nonlinear":[89],"kinematic":[90],"dynamic":[92],"constraints":[93],"well":[95],"collisions.":[97],"The":[98],"prediction":[99],"then":[101],"improved":[102],"through":[103],"subsequent":[105],"quadratic":[106],"programming":[107],"low":[109],"cost,":[111],"ensuring":[112],"compliance":[114],"equations":[118],"increasing":[120],"tool-center-point":[122],"target":[123],"reaching":[124],"accuracy.":[125]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
