{"id":"https://openalex.org/W4313048892","doi":"https://doi.org/10.1109/case49997.2022.9926528","title":"Optimal Deformation Control Framework for Elastic Linear Objects","display_name":"Optimal Deformation Control Framework for Elastic Linear Objects","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4313048892","doi":"https://doi.org/10.1109/case49997.2022.9926528"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926528","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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/A5028147854","display_name":"Omid Aghajanzadeh","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Omid Aghajanzadeh","raw_affiliation_strings":["Université Clermont Auvergne,CNRS, Clermont Auvergne INP, Institut Pascal,Clermont-Ferrand,France,F-63000"],"affiliations":[{"raw_affiliation_string":"Université Clermont Auvergne,CNRS, Clermont Auvergne INP, Institut Pascal,Clermont-Ferrand,France,F-63000","institution_ids":["https://openalex.org/I198244214","https://openalex.org/I169645620","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067045147","display_name":"Guillaume Picard","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guillaume Picard","raw_affiliation_strings":["Université Clermont Auvergne,Aubière,France,F-63178"],"affiliations":[{"raw_affiliation_string":"Université Clermont Auvergne,Aubière,France,F-63178","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067719607","display_name":"Juan Antonio Corrales Ram\u00f3n","orcid":"https://orcid.org/0000-0002-9373-7954"},"institutions":[{"id":"https://openalex.org/I200284239","display_name":"Universidade de Santiago de Compostela","ror":"https://ror.org/030eybx10","country_code":"ES","type":"education","lineage":["https://openalex.org/I200284239"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan Antonio Corrales Ramon","raw_affiliation_strings":["Universidade de Santiago de Compostela,Centro Singular de Investigación en Tecnoloxías Intelixentes (CiTIUS),Santiago de Compostela,Spain,15782"],"affiliations":[{"raw_affiliation_string":"Universidade de Santiago de Compostela,Centro Singular de Investigación en Tecnoloxías Intelixentes (CiTIUS),Santiago de Compostela,Spain,15782","institution_ids":["https://openalex.org/I200284239"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037867965","display_name":"Christophe Cariou","orcid":"https://orcid.org/0000-0002-7343-7452"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Christophe Cariou","raw_affiliation_strings":["Université Clermont Auvergne,Aubière,France,F-63178"],"affiliations":[{"raw_affiliation_string":"Université Clermont Auvergne,Aubière,France,F-63178","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076521836","display_name":"Roland Lenain","orcid":"https://orcid.org/0000-0003-0348-8673"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roland Lenain","raw_affiliation_strings":["Université Clermont Auvergne,Aubière,France,F-63178"],"affiliations":[{"raw_affiliation_string":"Université Clermont Auvergne,Aubière,France,F-63178","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048178604","display_name":"Youcef Mezouar","orcid":"https://orcid.org/0000-0001-8138-3928"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I169645620","display_name":"Institut Pascal","ror":"https://ror.org/03vgfxd91","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214","https://openalex.org/I4210095849"]},{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Youcef Mezouar","raw_affiliation_strings":["Université Clermont Auvergne,CNRS, Clermont Auvergne INP, Institut Pascal,Clermont-Ferrand,France,F-63000"],"affiliations":[{"raw_affiliation_string":"Université Clermont Auvergne,CNRS, Clermont Auvergne INP, Institut Pascal,Clermont-Ferrand,France,F-63000","institution_ids":["https://openalex.org/I198244214","https://openalex.org/I169645620","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5028147854"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I169645620","https://openalex.org/I198244214"],"apc_list":null,"apc_paid":null,"fwci":2.4693,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.91682572,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"722","last_page":"728"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9950000047683716,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9950000047683716,"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/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9857000112533569,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7155829668045044},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6563729047775269},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.6470423936843872},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.6179555654525757},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5863391757011414},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5600709915161133},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5191492438316345},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.5078249573707581},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47918856143951416},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4354987144470215},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.41852957010269165},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4021763503551483},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37440285086631775},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3454066514968872},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32409733533859253},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27552568912506104},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27196431159973145},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22645872831344604},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.1198756992816925}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7155829668045044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6563729047775269},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.6470423936843872},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.6179555654525757},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5863391757011414},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5600709915161133},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5191492438316345},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.5078249573707581},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47918856143951416},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4354987144470215},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.41852957010269165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4021763503551483},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37440285086631775},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3454066514968872},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32409733533859253},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27552568912506104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27196431159973145},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22645872831344604},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.1198756992816925},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case49997.2022.9926528","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926528","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04170361v1","is_oa":false,"landing_page_url":"https://hal.inrae.fr/hal-04170361","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), Aug 2022, Mexico City, Mexico. pp.722-728, ⟨10.1109/CASE49997.2022.9926528⟩","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Zero hunger","score":0.6600000262260437,"id":"https://metadata.un.org/sdg/2"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W177930832","https://openalex.org/W1969865247","https://openalex.org/W1971858902","https://openalex.org/W1997329699","https://openalex.org/W2006104867","https://openalex.org/W2011000469","https://openalex.org/W2023971492","https://openalex.org/W2033462993","https://openalex.org/W2068274792","https://openalex.org/W2084005769","https://openalex.org/W2096816038","https://openalex.org/W2128597598","https://openalex.org/W2133497849","https://openalex.org/W2133593930","https://openalex.org/W2152434852","https://openalex.org/W2163403935","https://openalex.org/W2334591577","https://openalex.org/W2768345177","https://openalex.org/W2768409770","https://openalex.org/W2789411136","https://openalex.org/W2805530149","https://openalex.org/W2808405904","https://openalex.org/W2892779347","https://openalex.org/W2893240771","https://openalex.org/W2894116595","https://openalex.org/W2908605439","https://openalex.org/W2963265239","https://openalex.org/W3003169307","https://openalex.org/W3007084397","https://openalex.org/W3013235505","https://openalex.org/W3039664495","https://openalex.org/W3049266637","https://openalex.org/W3113533274","https://openalex.org/W3119874910","https://openalex.org/W3131684588","https://openalex.org/W3170278846","https://openalex.org/W3176826656","https://openalex.org/W3199951390","https://openalex.org/W3205009373","https://openalex.org/W3207299932","https://openalex.org/W4210725839","https://openalex.org/W4210811533","https://openalex.org/W4225010483","https://openalex.org/W6682441149","https://openalex.org/W6782067729","https://openalex.org/W6801068409"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2127267268","https://openalex.org/W2156446763","https://openalex.org/W2136512912","https://openalex.org/W2371519816","https://openalex.org/W2067910792","https://openalex.org/W2043154226","https://openalex.org/W1679399962","https://openalex.org/W2132859693","https://openalex.org/W1901106430"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,16,25,34,65,72,124,153],"control":[4],"framework":[5,63,100],"for":[6],"changing":[7],"the":[8,21,42,77,80,86,89,115,119,129,132,135,140,143,146,150,160,174,177],"shape":[9,66,74,91],"of":[10,53,61,88,98,145,176],"linear":[11],"deformable":[12],"objects":[13],"(LDOs)":[14],"with":[15],"robotic":[17,147],"arm":[18,148],"without":[19,55],"knowing":[20],"object\u2019s":[22,151],"properties":[23],"on":[24,107],"2D":[26],"workspace.":[27],"In":[28],"particular,":[29],"we":[30],"aim":[31],"to":[32,44,172],"provide":[33],"complete":[35],"methodology":[36],"that":[37,70,75,112,127],"can":[38,92],"be":[39,93],"used":[40],"in":[41],"future":[43],"manipulate":[45],"agricultural":[46],"LDOs,":[47],"such":[48],"as":[49],"branches":[50],"and":[51,104,134,149,167],"twigs":[52],"vegetables,":[54],"damaging":[56],"them.":[57],"The":[58,95],"first":[59],"component":[60,97],"our":[62,99],"is":[64,101,105,156],"prediction":[67],"optimal":[68,110],"method":[69],"obtains":[71],"target":[73,90,120],"minimizes":[76],"stress":[78],"along":[79],"target\u2019s":[81],"length.":[82],"Using":[83],"this":[84],"method,":[85],"reachability":[87],"guaranteed.":[94],"second":[96],"executed":[102],"later":[103],"based":[106],"an":[108],"indirect":[109],"controller":[111],"automatically":[113],"drives":[114],"objects\u2019":[116],"shapes":[117,121],"into":[118],"by":[122,158],"minimizing":[123],"cost":[125],"function":[126],"reduces":[128],"error":[130],"between":[131,142],"targets":[133],"current":[136],"shapes.":[137],"To":[138],"find":[139],"relation":[141],"motion":[144],"shape,":[152],"Jacobian":[154],"matrix":[155],"calculated":[157],"using":[159],"As-Rigid-As-Possible":[161],"deformation":[162],"model.":[163],"Several":[164],"numerical":[165],"simulations":[166],"real":[168],"experiments":[169],"are":[170],"presented":[171],"highlight":[173],"performance":[175],"proposed":[178],"methodology.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-12T07:58:50.170612","created_date":"2025-10-10T00:00:00"}