{"id":"https://openalex.org/W3204704580","doi":"https://doi.org/10.1109/case49439.2021.9551396","title":"Piecewise Virtual Constraints for Trajectory Planning of Underactuated Mechanical Systems","display_name":"Piecewise Virtual Constraints for Trajectory Planning of Underactuated Mechanical Systems","publication_year":2021,"publication_date":"2021-08-23","ids":{"openalex":"https://openalex.org/W3204704580","doi":"https://doi.org/10.1109/case49439.2021.9551396","mag":"3204704580"},"language":"en","primary_location":{"id":"doi:10.1109/case49439.2021.9551396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","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/A5017149651","display_name":"Shamil Mamedov","orcid":"https://orcid.org/0000-0002-5381-7976"},"institutions":[{"id":"https://openalex.org/I4210116741","display_name":"Innopolis University","ror":"https://ror.org/02b7jh107","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210116741"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Shamil Mamedov","raw_affiliation_strings":["Center for Technologies in Robotics and Mechatronics Components, Innopolis University, Innopolis, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Technologies in Robotics and Mechatronics Components, Innopolis University, Innopolis, Russia","institution_ids":["https://openalex.org/I4210116741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065631203","display_name":"Ramil Khusainov","orcid":"https://orcid.org/0000-0002-9898-4276"},"institutions":[{"id":"https://openalex.org/I4210116741","display_name":"Innopolis University","ror":"https://ror.org/02b7jh107","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210116741"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Ramil Khusainov","raw_affiliation_strings":["Center for Technologies in Robotics and Mechatronics Components, Innopolis University, Innopolis, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Technologies in Robotics and Mechatronics Components, Innopolis University, Innopolis, Russia","institution_ids":["https://openalex.org/I4210116741"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023663334","display_name":"Igor Gaponov","orcid":"https://orcid.org/0000-0001-8824-578X"},"institutions":[{"id":"https://openalex.org/I4210116741","display_name":"Innopolis University","ror":"https://ror.org/02b7jh107","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210116741"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Igor Gaponov","raw_affiliation_strings":["Center for Technologies in Robotics and Mechatronics Components, Innopolis University, Innopolis, Russia","Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Technologies in Robotics and Mechatronics Components, Innopolis University, Innopolis, Russia","institution_ids":["https://openalex.org/I4210116741"]},{"raw_affiliation_string":"Institute of Robotics and Computer Vision, Innopolis University, Innopolis, Russia","institution_ids":["https://openalex.org/I4210116741"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210116741"],"apc_list":null,"apc_paid":null,"fwci":0.45,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.50888108,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"928","last_page":"933"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","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"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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":0.9988999962806702,"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/underactuation","display_name":"Underactuation","score":0.898164689540863},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.7225503325462341},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6864640712738037},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.664903998374939},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6269165873527527},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.620257556438446},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5643709301948547},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5397241115570068},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.506805956363678},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.48652714490890503},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.48034727573394775},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4490082561969757},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.43257033824920654},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41546061635017395},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41296520829200745},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25666725635528564},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25122392177581787},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2486419379711151},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1739264726638794},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07650086283683777}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.898164689540863},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.7225503325462341},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6864640712738037},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.664903998374939},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6269165873527527},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.620257556438446},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5643709301948547},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5397241115570068},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.506805956363678},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.48652714490890503},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.48034727573394775},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4490082561969757},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.43257033824920654},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41546061635017395},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41296520829200745},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25666725635528564},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25122392177581787},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2486419379711151},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1739264726638794},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07650086283683777},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case49439.2021.9551396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6600000262260437,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W146798655","https://openalex.org/W1534166328","https://openalex.org/W1562460111","https://openalex.org/W1986360546","https://openalex.org/W1995551113","https://openalex.org/W1998560353","https://openalex.org/W2123871098","https://openalex.org/W2128131727","https://openalex.org/W2132347660","https://openalex.org/W2133582863","https://openalex.org/W2140632912","https://openalex.org/W2166751342","https://openalex.org/W2284553986","https://openalex.org/W2413990562","https://openalex.org/W2553360740","https://openalex.org/W2842089854","https://openalex.org/W2972798201"],"related_works":["https://openalex.org/W2154502479","https://openalex.org/W1593123930","https://openalex.org/W2127776540","https://openalex.org/W2365582959","https://openalex.org/W2007583701","https://openalex.org/W2077643751","https://openalex.org/W2363850121","https://openalex.org/W2717412651","https://openalex.org/W2106586754","https://openalex.org/W2045350889"],"abstract_inverted_index":{"Underactuated":[0],"mechanical":[1],"systems":[2,22,83],"are":[3],"well-known":[4],"for":[5,20,61,66,81,104],"the":[6,17,30,55,71,82,114,122,126],"challenges":[7],"they":[8],"pose":[9],"to":[10,33,48,77],"motion":[11,18,79],"planning":[12,62,80],"and":[13,63,89,121],"control.":[14,67],"In":[15],"particular,":[16],"planner":[19],"these":[21,50],"must":[23],"take":[24],"into":[25],"account":[26],"their":[27],"dynamics,":[28],"while":[29,138],"controller":[31],"has":[32],"stabilize":[34],"all":[35],"degrees":[36],"of":[37,43,57,73,87,113],"freedom":[38],"with":[39,84,95],"a":[40,117],"fewer":[41],"number":[42],"actuators.":[44],"One":[45],"common":[46],"way":[47],"overcome":[49],"hurdles":[51],"is":[52],"by":[53],"employing":[54],"concept":[56],"virtual":[58,75],"(holonomic)":[59],"constraints":[60,76,97],"transversal":[64],"stabilization":[65],"This":[68],"paper":[69],"investigates":[70],"use":[72],"piecewise":[74,96],"improve":[78],"one":[85],"degree":[86],"underactuation":[88],"demonstrates":[90],"that":[91,125],"periodic":[92],"motions":[93],"planned":[94],"can":[98],"be":[99],"stabilized":[100],"using":[101],"existing":[102],"tools":[103],"orbital":[105],"stabilization.":[106],"We":[107],"have":[108],"conducted":[109],"extensive":[110],"experimental":[111],"evaluation":[112],"algorithm":[115],"on":[116],"practical":[118],"pendubot":[119],"robot,":[120],"results":[123],"suggest":[124],"proposed":[127],"method":[128],"yields":[129],"considerably":[130],"smaller":[131],"cost":[132],"function":[133],"values":[134],"than":[135],"other":[136],"approaches,":[137],"exhibiting":[139],"faster":[140],"convergence.":[141]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}