{"id":"https://openalex.org/W2899135865","doi":"https://doi.org/10.1109/etfa.2018.8502566","title":"Energy Minimization in Time-Constrained Robotic Tasks via Sequential Quadratic Programming","display_name":"Energy Minimization in Time-Constrained Robotic Tasks via Sequential Quadratic Programming","publication_year":2018,"publication_date":"2018-09-01","ids":{"openalex":"https://openalex.org/W2899135865","doi":"https://doi.org/10.1109/etfa.2018.8502566","mag":"2899135865"},"language":"en","primary_location":{"id":"doi:10.1109/etfa.2018.8502566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2018.8502566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE 23rd International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"},"type":"preprint","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/A5064520615","display_name":"Marco Faroni","orcid":"https://orcid.org/0000-0001-9633-4301"},"institutions":[{"id":"https://openalex.org/I79940851","display_name":"University of Brescia","ror":"https://ror.org/02q2d2610","country_code":"IT","type":"education","lineage":["https://openalex.org/I79940851"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Marco Faroni","raw_affiliation_strings":["Dipartimento di Ingegneria Meccanica e Industriale, University of Brescia, Brescia, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Meccanica e Industriale, University of Brescia, Brescia, Italy","institution_ids":["https://openalex.org/I79940851"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018054887","display_name":"Domenico Gorni","orcid":null},"institutions":[{"id":"https://openalex.org/I79940851","display_name":"University of Brescia","ror":"https://ror.org/02q2d2610","country_code":"IT","type":"education","lineage":["https://openalex.org/I79940851"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Domenico Gorni","raw_affiliation_strings":["Dipartimento di Ingegneria Meccanica e Industriale, University of Brescia, Brescia, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Meccanica e Industriale, University of Brescia, Brescia, Italy","institution_ids":["https://openalex.org/I79940851"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077205052","display_name":"Antonio Visioli","orcid":"https://orcid.org/0000-0002-9246-5715"},"institutions":[{"id":"https://openalex.org/I79940851","display_name":"University of Brescia","ror":"https://ror.org/02q2d2610","country_code":"IT","type":"education","lineage":["https://openalex.org/I79940851"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Visioli","raw_affiliation_strings":["Dipartimento di Ingegneria Meccanica e Industriale, University of Brescia, Brescia, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Meccanica e Industriale, University of Brescia, Brescia, Italy","institution_ids":["https://openalex.org/I79940851"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5064520615"],"corresponding_institution_ids":["https://openalex.org/I79940851"],"apc_list":null,"apc_paid":null,"fwci":0.57194661,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.6826036,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"84","issue":null,"first_page":"699","last_page":"705"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976000189781189,"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":0.9976000189781189,"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/T10933","display_name":"Real-Time Systems Scheduling","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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":0.9970999956130981,"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/quadratic-programming","display_name":"Quadratic programming","score":0.7143381834030151},{"id":"https://openalex.org/keywords/energy-minimization","display_name":"Energy minimization","score":0.635631799697876},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6193289756774902},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6023421287536621},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5721256732940674},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.5686965584754944},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.557815670967102},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.5102624893188477},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.48857077956199646},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.46925827860832214},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.45616868138313293},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.4369523823261261},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41165587306022644},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.358717143535614},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.34213051199913025},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22019141912460327},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1959351897239685},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13321784138679504},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09962069988250732}],"concepts":[{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.7143381834030151},{"id":"https://openalex.org/C14961307","wikidata":"https://www.wikidata.org/wiki/Q5377176","display_name":"Energy minimization","level":2,"score":0.635631799697876},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6193289756774902},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6023421287536621},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5721256732940674},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.5686965584754944},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.557815670967102},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.5102624893188477},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.48857077956199646},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.46925827860832214},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.45616868138313293},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4369523823261261},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41165587306022644},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.358717143535614},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.34213051199913025},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22019141912460327},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1959351897239685},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13321784138679504},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09962069988250732},{"id":"https://openalex.org/C147597530","wikidata":"https://www.wikidata.org/wiki/Q369472","display_name":"Computational chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/etfa.2018.8502566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2018.8502566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE 23rd International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unibs.it:11379/515707","is_oa":false,"landing_page_url":"http://hdl.handle.net/11379/515707","pdf_url":null,"source":{"id":"https://openalex.org/S4306400804","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Brescia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66752286","host_organization_name":"University of Milano-Bicocca","host_organization_lineage":["https://openalex.org/I66752286"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:re.public.polimi.it:11311/1255945","is_oa":false,"landing_page_url":"https://hdl.handle.net/11311/1255945","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W188115426","https://openalex.org/W1812879845","https://openalex.org/W1920358242","https://openalex.org/W1972394793","https://openalex.org/W1996891009","https://openalex.org/W2004199889","https://openalex.org/W2013439434","https://openalex.org/W2022393739","https://openalex.org/W2057101188","https://openalex.org/W2083878885","https://openalex.org/W2099454002","https://openalex.org/W2104369494","https://openalex.org/W2110926800","https://openalex.org/W2141522820","https://openalex.org/W2152616154","https://openalex.org/W2155035192","https://openalex.org/W2580331303","https://openalex.org/W6607602812"],"related_works":["https://openalex.org/W4206704743","https://openalex.org/W1495847109","https://openalex.org/W436931041","https://openalex.org/W2019128690","https://openalex.org/W2390817143","https://openalex.org/W2106813160","https://openalex.org/W2355743697","https://openalex.org/W16121019","https://openalex.org/W2894731288","https://openalex.org/W2384138382"],"abstract_inverted_index":{"Reduction":[0],"of":[1,26,50,68,108,123,138],"the":[2,48,55,59,65,69,72,86,99,106,109,121,124,136,139],"energy":[3,24,51],"consumption":[4],"in":[5,12,47,93,127,132],"robotized":[6],"processes":[7],"is":[8,76,101,114,130],"a":[9,20,43,90],"key":[10],"issue":[11],"nowadays":[13],"manufacturing.":[14],"In":[15],"this":[16],"paper,":[17],"we":[18],"propose":[19],"simple":[21],"approach":[22],"to":[23,64,134],"minimization":[25,74],"robotic":[27],"tasks":[28],"with":[29],"assigned":[30],"cycle":[31,61],"time":[32],"based":[33],"on":[34],"sequential":[35],"quadratic":[36,82],"programming.":[37],"The":[38,111],"method":[39,87,100],"aims":[40],"at":[41],"re-shaping":[42],"given":[44,60],"timing":[45],"law":[46],"sense":[49],"saving,":[52],"without":[53,118],"modifying":[54],"desired":[56],"path":[57],"and":[58],"time.":[62],"Thanks":[63],"iterative":[66],"linearization":[67],"nonlinear":[70],"time-constraint,":[71],"resulting":[73],"problem":[75],"solved":[77],"by":[78,103],"only":[79,104],"using":[80],"common":[81],"programming":[83],"solvers,":[84],"making":[85],"suitable":[88],"for":[89],"direct":[91],"implementation":[92],"robot":[94],"industrial":[95],"controllers.":[96],"At":[97],"first,":[98],"devised":[102],"considering":[105],"kinematics":[107],"manipulator.":[110],"dynamic":[112],"model":[113],"then":[115],"straightforwardly":[116],"included,":[117],"significantly":[119],"increasing":[120],"complexity":[122],"method.":[125],"Validation":[126],"simulation":[128],"environment":[129],"provided":[131],"order":[133],"show":[135],"effectiveness":[137],"methodology.":[140]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2018-11-09T00:00:00"}