{"id":"https://openalex.org/W4313563009","doi":"https://doi.org/10.1109/humanoids53995.2022.10000159","title":"An MPC-Based Framework for Dynamic Trajectory Re-Planning in Uncertain Environments","display_name":"An MPC-Based Framework for Dynamic Trajectory Re-Planning in Uncertain Environments","publication_year":2022,"publication_date":"2022-11-28","ids":{"openalex":"https://openalex.org/W4313563009","doi":"https://doi.org/10.1109/humanoids53995.2022.10000159"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids53995.2022.10000159","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids53995.2022.10000159","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","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-RAS 21st International Conference on Humanoid Robots (Humanoids)","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/A5044665382","display_name":"Maolin Lei","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Maolin Lei","raw_affiliation_strings":["Istituto Italiano Di Tecnologia (IIT),Humanoids and Human Centered Mechatronics Research Line,Genoa,Italy,16163","Department of Informatics, Bioengineering, Robotics, and Systems Engineering (DIBRIS), University of Genova, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano Di Tecnologia (IIT),Humanoids and Human Centered Mechatronics Research Line,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Informatics, Bioengineering, Robotics, and Systems Engineering (DIBRIS), University of Genova, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024113234","display_name":"Liang Lu","orcid":"https://orcid.org/0000-0002-8078-8760"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Liang Lu","raw_affiliation_strings":["Istituto Italiano Di Tecnologia (IIT),Humanoids and Human Centered Mechatronics Research Line,Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano Di Tecnologia (IIT),Humanoids and Human Centered Mechatronics Research Line,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016982993","display_name":"Arturo Laurenzi","orcid":"https://orcid.org/0000-0002-9065-1266"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arturo Laurenzi","raw_affiliation_strings":["Istituto Italiano Di Tecnologia (IIT),Humanoids and Human Centered Mechatronics Research Line,Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano Di Tecnologia (IIT),Humanoids and Human Centered Mechatronics Research Line,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103192544","display_name":"Luca Rossini","orcid":"https://orcid.org/0000-0002-2114-3823"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Rossini","raw_affiliation_strings":["Istituto Italiano Di Tecnologia (IIT),Humanoids and Human Centered Mechatronics Research Line,Genoa,Italy,16163","Department of Informatics, Bioengineering, Robotics, and Systems Engineering (DIBRIS), University of Genova, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano Di Tecnologia (IIT),Humanoids and Human Centered Mechatronics Research Line,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Informatics, Bioengineering, Robotics, and Systems Engineering (DIBRIS), University of Genova, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082981532","display_name":"Edoardo Romiti","orcid":"https://orcid.org/0000-0002-5983-7089"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Edoardo Romiti","raw_affiliation_strings":["Istituto Italiano Di Tecnologia (IIT),Humanoids and Human Centered Mechatronics Research Line,Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano Di Tecnologia (IIT),Humanoids and Human Centered Mechatronics Research Line,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068938836","display_name":"J\u00f6rn Malzahn","orcid":"https://orcid.org/0000-0001-6367-7869"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jorn Malzahn","raw_affiliation_strings":["Istituto Italiano Di Tecnologia (IIT),Humanoids and Human Centered Mechatronics Research Line,Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano Di Tecnologia (IIT),Humanoids and Human Centered Mechatronics Research Line,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Istituto Italiano Di Tecnologia (IIT),Humanoids and Human Centered Mechatronics Research Line,Genoa,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano Di Tecnologia (IIT),Humanoids and Human Centered Mechatronics Research Line,Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5044665382"],"corresponding_institution_ids":["https://openalex.org/I30771326","https://openalex.org/I83816512"],"apc_list":null,"apc_paid":null,"fwci":0.4182,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.71710433,"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":"594","last_page":"601"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9979000091552734,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9968000054359436,"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/workspace","display_name":"Workspace","score":0.7749298810958862},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7691762447357178},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7556848526000977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6745945811271667},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.6269333362579346},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5288214087486267},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5239308476448059},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.522042989730835},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.49113914370536804},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.43922582268714905},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.41174665093421936},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4115704298019409},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40825626254081726},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35849976539611816},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20363497734069824}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7749298810958862},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7691762447357178},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7556848526000977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6745945811271667},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.6269333362579346},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5288214087486267},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5239308476448059},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.522042989730835},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.49113914370536804},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.43922582268714905},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.41174665093421936},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4115704298019409},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40825626254081726},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35849976539611816},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20363497734069824},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids53995.2022.10000159","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids53995.2022.10000159","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","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-RAS 21st International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1994691148","https://openalex.org/W2004139909","https://openalex.org/W2013439434","https://openalex.org/W2062934826","https://openalex.org/W2104332709","https://openalex.org/W2140405352","https://openalex.org/W2482392012","https://openalex.org/W2612636433","https://openalex.org/W2783739830","https://openalex.org/W2912365230","https://openalex.org/W2948218505","https://openalex.org/W2953931148","https://openalex.org/W2963342207","https://openalex.org/W3010248143","https://openalex.org/W3015423984","https://openalex.org/W3036036610","https://openalex.org/W3081301530","https://openalex.org/W3089858107","https://openalex.org/W3115481033","https://openalex.org/W3147615361","https://openalex.org/W3158536236","https://openalex.org/W3168394484","https://openalex.org/W3171676354","https://openalex.org/W3192808395","https://openalex.org/W3195568529","https://openalex.org/W3206254663","https://openalex.org/W4292402580","https://openalex.org/W4312957090"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W4380590094"],"abstract_inverted_index":{"Online":[0],"motion":[1,88],"re-planning":[2,39,175],"is":[3,111],"an":[4,57,114],"important":[5],"feature":[6],"for":[7,41,77],"introducing":[8],"robots":[9],"into":[10],"unstructured":[11],"environments":[12,47],"where":[13,48],"the":[14,24,27,30,49,65,70,78,94,99,103,108,125,139,143,154,157,168,171,176,179,183,190,195],"close":[15],"presence":[16,184],"of":[17,26,64,80,93,113,127,145,156,170,178,185],"humans":[18,52],"at":[19],"any":[20],"time":[21],"can":[22],"challenge":[23],"operation":[25],"robot":[28,140],"from":[29],"human":[31,81,87,95,151,187],"safety":[32],"perspective.":[33],"This":[34],"work":[35],"introduces":[36],"a":[37,119,135,149,164,186],"novel":[38],"framework":[40,67,110,173],"robotic":[42,165,180],"manipulators":[43],"operating":[44],"in":[45,56,69,174],"dynamic":[46],"interactions":[50],"with":[51,86,96,148],"may":[53],"occur":[54],"either":[55],"anticipated":[58],"or":[59],"unexpected":[60],"manner.":[61],"The":[62],"contribution":[63],"proposed":[66,109,172],"lies":[68],"fact":[71],"that":[72],"it":[73],"allows":[74],"to":[75,98,130],"account":[76],"uncertainty":[79,115],"pose":[82],"and":[83,118,132,160],"challenges":[84],"associated":[85],"estimation":[89,116],"during":[90],"occlusion":[91],"phases":[92],"respect":[97],"perception":[100,191],"system":[101,192],"on":[102,163,194],"robot.":[104,158,196],"To":[105],"this":[106],"aim":[107],"comprised":[112],"component":[117],"model":[120],"predictive":[121],"control":[122],"(MPC)":[123],"component,":[124],"combination":[126],"which":[128],"enables":[129],"efficiently":[131],"dynamically":[133],"track":[134],"task-space":[136],"trajectory":[137,177],"by":[138,189],"while":[141],"limiting":[142],"probability":[144],"potential":[146],"collisions":[147],"moving":[150],"obstacle":[152],"entering":[153],"workspace":[155],"Simulations":[159],"experimental":[161],"trials":[162],"platform":[166],"show":[167],"effectiveness":[169],"arm":[181],"under":[182],"detected":[188],"installed":[193]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
