{"id":"https://openalex.org/W1987724084","doi":"https://doi.org/10.1109/cec.2009.4983366","title":"Optimum robot manipulator path generation using Differential Evolution","display_name":"Optimum robot manipulator path generation using Differential Evolution","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W1987724084","doi":"https://doi.org/10.1109/cec.2009.4983366","mag":"1987724084"},"language":"en","primary_location":{"id":"doi:10.1109/cec.2009.4983366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cec.2009.4983366","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Congress on Evolutionary Computation","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":null,"display_name":"Carla Gonzalez","orcid":null},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]},{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Carla Gonzalez","raw_affiliation_strings":["Department of Systems Engineering and Automation, Carlos III Technical University of Madrid, Leganes, Spain","Department of Systems Engineering and Automation, Carlos III University of Madrid, Av. Universidad, 30, 28911, Legan\u00e9s, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Carlos III Technical University of Madrid, Leganes, Spain","institution_ids":["https://openalex.org/I50357001","https://openalex.org/I88060688"]},{"raw_affiliation_string":"Department of Systems Engineering and Automation, Carlos III University of Madrid, Av. Universidad, 30, 28911, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007484595","display_name":"Dolores Blanco","orcid":"https://orcid.org/0000-0001-6300-5165"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]},{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Dolores Blanco","raw_affiliation_strings":["Department of Systems Engineering and Automation, Carlos III Technical University of Madrid, Leganes, Spain","Department of Systems Engineering and Automation, Carlos III University of Madrid, Av. Universidad, 30, 28911, Legan\u00e9s, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Carlos III Technical University of Madrid, Leganes, Spain","institution_ids":["https://openalex.org/I50357001","https://openalex.org/I88060688"]},{"raw_affiliation_string":"Department of Systems Engineering and Automation, Carlos III University of Madrid, Av. Universidad, 30, 28911, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028039528","display_name":"Lu\u00eds Moreno","orcid":"https://orcid.org/0000-0002-4450-680X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]},{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis Moreno","raw_affiliation_strings":["Department of Systems Engineering and Automation, Carlos III Technical University of Madrid, Leganes, Spain","Department of Systems Engineering and Automation, Carlos III University of Madrid, Av. Universidad, 30, 28911, Legan\u00e9s, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering and Automation, Carlos III Technical University of Madrid, Leganes, Spain","institution_ids":["https://openalex.org/I50357001","https://openalex.org/I88060688"]},{"raw_affiliation_string":"Department of Systems Engineering and Automation, Carlos III University of Madrid, Av. Universidad, 30, 28911, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I50357001","https://openalex.org/I88060688"],"apc_list":null,"apc_paid":null,"fwci":2.3095,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.88842136,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3322","last_page":"3329"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9987999796867371,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9925000071525574,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.635348379611969},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5449045300483704},{"id":"https://openalex.org/keywords/differential-evolution","display_name":"Differential evolution","score":0.5430315732955933},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5408421754837036},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.523046612739563},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47697243094444275},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4723414182662964},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.45430099964141846},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.43529683351516724},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.43449175357818604},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.4213009178638458},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4007461667060852},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37417125701904297},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3372515141963959},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2006540298461914}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.635348379611969},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5449045300483704},{"id":"https://openalex.org/C74750220","wikidata":"https://www.wikidata.org/wiki/Q2662197","display_name":"Differential evolution","level":2,"score":0.5430315732955933},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5408421754837036},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.523046612739563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47697243094444275},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4723414182662964},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.45430099964141846},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.43529683351516724},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.43449175357818604},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.4213009178638458},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4007461667060852},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37417125701904297},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3372515141963959},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2006540298461914},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cec.2009.4983366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cec.2009.4983366","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Congress on Evolutionary Computation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W194800985","https://openalex.org/W1595159159","https://openalex.org/W1598579488","https://openalex.org/W1639032689","https://openalex.org/W1708394971","https://openalex.org/W1879678483","https://openalex.org/W1939092911","https://openalex.org/W1947982958","https://openalex.org/W1978942904","https://openalex.org/W1981072919","https://openalex.org/W2002592134","https://openalex.org/W2004208581","https://openalex.org/W2032420154","https://openalex.org/W2056157338","https://openalex.org/W2058544403","https://openalex.org/W2086883518","https://openalex.org/W2096555931","https://openalex.org/W2108672171","https://openalex.org/W2127775177","https://openalex.org/W2131242347","https://openalex.org/W2136470108","https://openalex.org/W2137113647","https://openalex.org/W2139763454","https://openalex.org/W2144629157","https://openalex.org/W2146097584","https://openalex.org/W2149398730","https://openalex.org/W2159806973","https://openalex.org/W2724949136","https://openalex.org/W6740235389"],"related_works":["https://openalex.org/W2115240519","https://openalex.org/W2080642692","https://openalex.org/W2039927751","https://openalex.org/W3047523153","https://openalex.org/W2394392475","https://openalex.org/W4226342200","https://openalex.org/W3016367173","https://openalex.org/W2069937987","https://openalex.org/W3040474838","https://openalex.org/W4391529045"],"abstract_inverted_index":{"A":[0],"new":[1],"evolutionary-based":[2],"algorithm":[3,87,127],"is":[4,18,38,46,51,97,100],"proposed":[5],"to":[6,69],"solve":[7,82],"the":[8,32,54,58,63,73,83,109,126,131,134,138,147],"robot":[9,27,157],"manipulator":[10,28,158],"optimal":[11,36,148],"path":[12,24,37,75,149],"generation":[13,150],"problem.":[14],"The":[15,48],"following":[16],"scenario":[17],"considered:":[19],"given":[20],"a":[21,26,41,77,101,112,152],"learnt":[22,74],"joint":[23,44,65,79],"describing":[25],"simple":[29],"task":[30],"in":[31,116],"Cartesian":[33],"space,":[34],"an":[35,86,90,117],"calculated":[39],"when":[40],"different":[42],"initial":[43],"configuration":[45],"considered.":[47],"optimization":[49,84,105],"problem":[50,85],"formulated":[52],"as":[53,68],"minimization":[55],"of":[56,111,120,133,151,155],"both":[57],"end-effector":[59],"pose":[60],"error":[61],"and":[62,76,123],"total":[64],"displacement":[66],"so":[67],"ensure":[70],"convergence":[71],"towards":[72],"smooth":[78],"motion.":[80],"To":[81],"based":[88,107],"on":[89,108,146],"evolutionary":[91],"method":[92,106],"called":[93],"differential":[94],"evolution":[95,110],"(DE)":[96],"used.":[98],"DE":[99],"stochastic":[102],"direct":[103],"search":[104],"candidate":[113],"solution":[114],"population":[115],"iterative":[118],"process":[119],"mutation,":[121],"recombination,":[122],"selection.":[124],"Since":[125],"does":[128],"not":[129],"require":[130],"use":[132],"Jacobian":[135],"matrix":[136],"during":[137],"kinematic":[139],"inversion,":[140],"singularities":[141],"problems":[142],"are":[143,159],"overcome.":[144],"Results":[145],"six":[153],"degrees":[154],"freedom":[156],"also":[160],"presented.":[161]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}