{"id":"https://openalex.org/W4402437093","doi":"https://doi.org/10.1109/ccta60707.2024.10666612","title":"Real-Time Model Predictive Control for Energy-Optimal Obstacle Avoidance in Parallel SCARA Robot for a Pick and Place Application","display_name":"Real-Time Model Predictive Control for Energy-Optimal Obstacle Avoidance in Parallel SCARA Robot for a Pick and Place Application","publication_year":2024,"publication_date":"2024-08-21","ids":{"openalex":"https://openalex.org/W4402437093","doi":"https://doi.org/10.1109/ccta60707.2024.10666612"},"language":"en","primary_location":{"id":"doi:10.1109/ccta60707.2024.10666612","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta60707.2024.10666612","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5043240106","display_name":"Taranjitsingh Singh","orcid":"https://orcid.org/0000-0003-3255-3796"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Taranjitsingh Singh","raw_affiliation_strings":["Flanders Make,MotionS,Lommel,Belgium"],"affiliations":[{"raw_affiliation_string":"Flanders Make,MotionS,Lommel,Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010809063","display_name":"Branimir Mrak","orcid":"https://orcid.org/0000-0002-1949-6574"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Branimir Mrak","raw_affiliation_strings":["Flanders Make,MotionS,Lommel,Belgium"],"affiliations":[{"raw_affiliation_string":"Flanders Make,MotionS,Lommel,Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057319283","display_name":"Joris Gillis","orcid":"https://orcid.org/0000-0002-6774-3613"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Joris Gillis","raw_affiliation_strings":["KU Leuven,Department of Mechanical Engineering,Belgium"],"affiliations":[{"raw_affiliation_string":"KU Leuven,Department of Mechanical Engineering,Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5043240106"],"corresponding_institution_ids":["https://openalex.org/I4210116480"],"apc_list":null,"apc_paid":null,"fwci":0.5263,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.65693431,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"694","last_page":"701"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.998199999332428,"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":0.9825999736785889,"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/scara","display_name":"SCARA","score":0.9701762199401855},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7453674077987671},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.637958824634552},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6228102445602417},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5969332456588745},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5744073390960693},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5416884422302246},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4762708842754364},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.45472991466522217},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41153115034103394},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.37889978289604187},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34711986780166626},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3235681653022766},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23169296979904175},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07163748145103455}],"concepts":[{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.9701762199401855},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7453674077987671},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.637958824634552},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6228102445602417},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5969332456588745},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5744073390960693},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5416884422302246},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4762708842754364},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.45472991466522217},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41153115034103394},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37889978289604187},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34711986780166626},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3235681653022766},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23169296979904175},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07163748145103455},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccta60707.2024.10666612","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta60707.2024.10666612","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.6200000047683716}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1514056936","https://openalex.org/W1978271873","https://openalex.org/W2072073129","https://openalex.org/W2122816609","https://openalex.org/W2131588967","https://openalex.org/W2134673975","https://openalex.org/W2166868339","https://openalex.org/W2783605797","https://openalex.org/W2842089854","https://openalex.org/W2997371877","https://openalex.org/W3004059350","https://openalex.org/W3036036610","https://openalex.org/W3046485346","https://openalex.org/W3155178413","https://openalex.org/W4251365032","https://openalex.org/W4387914355","https://openalex.org/W4387914532","https://openalex.org/W4388918591","https://openalex.org/W7014185258","https://openalex.org/W7065631163"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109","https://openalex.org/W2102947728"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,18,28,40,68,79],"nonlinear":[4],"model":[5],"predictive":[6],"control":[7],"(NL-MPC)":[8],"design":[9],"and":[10,30,56,76],"real-time":[11,41],"implementation":[12],"for":[13,27,53],"energy-optimal":[14],"obstacle":[15,60],"avoidance":[16],"of":[17],"parallel":[19],"Selective":[20],"Compliance":[21],"Articulated":[22],"Robot":[23],"Arm":[24],"(SCARA)":[25],"robot":[26],"pick":[29,55],"place":[31,57],"application.":[32],"The":[33,62,84],"NL-MPC":[34,89],"problem":[35],"is":[36,65],"solved":[37],"online":[38],"using":[39],"iteration":[42],"scheme":[43],"that":[44,87],"guarantees":[45],"the":[46,50,54,88,93,101],"computational":[47],"time":[48,52],"within":[49],"solving":[51],"application":[58,82],"with":[59,73,78],"avoidance.":[61],"proposed":[63],"approach":[64,90],"tested":[66],"on":[67],"conveyor":[69],"belt":[70],"simulation":[71],"scenario":[72],"dynamic":[74],"obstacles":[75,102],"compared":[77],"conventional":[80],"industrial":[81],"solution.":[83],"results":[85],"show":[86],"can":[91],"improve":[92],"energy":[94],"efficiency":[95],"by":[96],"approx.":[97],"25%":[98],"while":[99],"avoiding":[100],"successfully.":[103]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}