{"id":"https://openalex.org/W2994607400","doi":"https://doi.org/10.1109/ccta.2019.8920610","title":"Nonlinear model predictive control of an overhead laboratory-scale gantry crane with obstacle avoidance","display_name":"Nonlinear model predictive control of an overhead laboratory-scale gantry crane with obstacle avoidance","publication_year":2019,"publication_date":"2019-08-01","ids":{"openalex":"https://openalex.org/W2994607400","doi":"https://doi.org/10.1109/ccta.2019.8920610","mag":"2994607400"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2019.8920610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2019.8920610","pdf_url":null,"source":{"id":"https://openalex.org/S4306498490","display_name":"2019 IEEE Conference on Control Technology and Applications (CCTA)","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":"2019 IEEE Conference on Control Technology and Applications (CCTA)","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/A5010068210","display_name":"Saad Iftikhar","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Saad Iftikhar","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Imperial College London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Imperial College London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016025582","display_name":"Omar J. Faqir","orcid":"https://orcid.org/0000-0002-6092-2432"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Omar J. Faqir","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, Imperial College London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, Imperial College London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085234065","display_name":"Eric C. Kemgan","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Eric C. Kemgan","raw_affiliation_strings":["Department of Electrical and Electronic Engineering and Department of Aeronautics, Imperial College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering and Department of Aeronautics, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5010068210"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.4921,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.72119089,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"382","last_page":"387"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980999827384949,"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":0.9980999827384949,"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":0.9976999759674072,"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":0.9934999942779541,"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/gantry-crane","display_name":"Gantry crane","score":0.7290564179420471},{"id":"https://openalex.org/keywords/overhead-crane","display_name":"Overhead crane","score":0.6823168396949768},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6818181872367859},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6145918965339661},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5836687684059143},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5588327646255493},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5518515706062317},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5380868911743164},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5352132320404053},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.522664487361908},{"id":"https://openalex.org/keywords/string","display_name":"String (physics)","score":0.5094552636146545},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4968447983264923},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4770609438419342},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4548947215080261},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.44845905900001526},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.42407816648483276},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1896507441997528},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15391606092453003},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12102213501930237},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08020424842834473}],"concepts":[{"id":"https://openalex.org/C2781008628","wikidata":"https://www.wikidata.org/wiki/Q475354","display_name":"Gantry crane","level":2,"score":0.7290564179420471},{"id":"https://openalex.org/C2779279789","wikidata":"https://www.wikidata.org/wiki/Q1060390","display_name":"Overhead crane","level":2,"score":0.6823168396949768},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6818181872367859},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6145918965339661},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5836687684059143},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5588327646255493},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5518515706062317},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5380868911743164},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5352132320404053},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.522664487361908},{"id":"https://openalex.org/C157486923","wikidata":"https://www.wikidata.org/wiki/Q1376436","display_name":"String (physics)","level":2,"score":0.5094552636146545},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4968447983264923},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4770609438419342},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4548947215080261},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.44845905900001526},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.42407816648483276},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1896507441997528},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15391606092453003},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12102213501930237},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08020424842834473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","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},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ccta.2019.8920610","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2019.8920610","pdf_url":null,"source":{"id":"https://openalex.org/S4306498490","display_name":"2019 IEEE Conference on Control Technology and Applications (CCTA)","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":"2019 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/70907","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/70907","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W123646622","https://openalex.org/W1424654272","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1978956894","https://openalex.org/W1981258784","https://openalex.org/W1984505032","https://openalex.org/W1997704083","https://openalex.org/W2000359213","https://openalex.org/W2005996430","https://openalex.org/W2022144586","https://openalex.org/W2049670620","https://openalex.org/W2052068708","https://openalex.org/W2059341609","https://openalex.org/W2073787051","https://openalex.org/W2082056119","https://openalex.org/W2092056414","https://openalex.org/W2103120971","https://openalex.org/W2104332709","https://openalex.org/W2115091574","https://openalex.org/W2123871098","https://openalex.org/W2131505299","https://openalex.org/W2155883064","https://openalex.org/W2166077797","https://openalex.org/W2166446174","https://openalex.org/W2166797227","https://openalex.org/W2217407546","https://openalex.org/W2221321873","https://openalex.org/W2296319761","https://openalex.org/W2306644740","https://openalex.org/W2327928574","https://openalex.org/W2344800832","https://openalex.org/W2599381599","https://openalex.org/W2611243847","https://openalex.org/W2767385209","https://openalex.org/W2950312551","https://openalex.org/W2963011664","https://openalex.org/W3015470607","https://openalex.org/W3035602027","https://openalex.org/W4250589301","https://openalex.org/W4256073327","https://openalex.org/W4285719527","https://openalex.org/W6745764106"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2887262285","https://openalex.org/W3119736302","https://openalex.org/W2436930662","https://openalex.org/W2284941322","https://openalex.org/W3080486440","https://openalex.org/W3200041777","https://openalex.org/W4386464271","https://openalex.org/W1973476865"],"abstract_inverted_index":{"Gantry":[0],"cranes":[1],"are":[2,117,124,147,160],"complex":[3],"nonlinear":[4,89],"electromechanical":[5],"systems":[6],"representing":[7],"a":[8,32,36,54,60,70,83,88,99,131],"challenging":[9],"control":[10,75,92],"problem.":[11],"We":[12,67],"propose":[13],"an":[14],"optimization-based":[15],"controller":[16,62],"for":[17,167],"guiding":[18],"the":[19,65,73,128,164,180],"crane":[20],"through":[21],"arbitrary":[22],"obstacles.":[23,47,111],"Solving":[24],"path":[25,37,49],"planning":[26],"problems":[27,152,166],"with":[28],"obstacles":[29],"typically":[30],"requires":[31],"two-stage":[33],"approach.":[34],"First,":[35],"is":[38,41,50,102],"found":[39],"that":[40,63,80,101],"feasible":[42,106],"w.r.t.":[43,107],"system":[44,108],"dynamics":[45,109],"and":[46,72,105,110,173],"The":[48,141],"then":[51],"interpreted":[52],"as":[53,119,127,137],"series":[55],"of":[56,130,133,179],"set":[57,132],"points":[58],"by":[59],"lower-level":[61],"guides":[64],"system.":[66],"instead":[68],"generate":[69,98],"path,":[71,81],"associated":[74],"input":[76],"to":[77,149,162],"move":[78],"along":[79],"from":[82],"single":[84],"optimization":[85],"problem":[86],"using":[87],"model":[90],"predictive":[91],"framework.":[93],"In":[94],"doing":[95],"so,":[96],"we":[97],"trajectory":[100],"locally":[103],"optimal":[104],"Multiple":[112],"obstacle":[113],"avoidance":[114],"constraint":[115],"formulations":[116,142],"proposed":[118,165],"smooth,":[120],"differentiable":[121],"functions.":[122,140],"Objects":[123],"approximated":[125],"either":[126],"union":[129],"smooth":[134,138],"shapes":[135],"or":[136,155,190],"indicator":[139],"presented":[143],"in":[144,153,184],"this":[145],"work":[146],"applicable":[148],"(non)":[150],"convex":[151],"2-D":[154,169],"3-D":[156,174],"spaces.":[157],"Numerical":[158],"methods":[159],"used":[161],"solve":[163],"both":[168],"(fixed":[170],"string":[171,176],"length)":[172,177],"(varying":[175],"models":[178],"gantry":[181],"crane,":[182],"resulting":[183],"consistently":[185],"lower":[186],"costs":[187],"than":[188],"nodal":[189],"sampling":[191],"based":[192],"algorithms.":[193]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
