{"id":"https://openalex.org/W4206575338","doi":"https://doi.org/10.1109/icar53236.2021.9659383","title":"Time-Optimal Trajectory Planning for Anti-Sloshing 2-Dimensional Motions of an Industrial Robot","display_name":"Time-Optimal Trajectory Planning for Anti-Sloshing 2-Dimensional Motions of an Industrial Robot","publication_year":2021,"publication_date":"2021-12-06","ids":{"openalex":"https://openalex.org/W4206575338","doi":"https://doi.org/10.1109/icar53236.2021.9659383"},"language":"en","primary_location":{"id":"doi:10.1109/icar53236.2021.9659383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659383","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"2021 20th International Conference on Advanced Robotics (ICAR)","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/A5050079313","display_name":"Roberto Di Leva","orcid":"https://orcid.org/0000-0002-7469-0345"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Roberto Di Leva","raw_affiliation_strings":["Department of Industrial Engineering, University of Bologna, Bologna, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074104066","display_name":"Marco Carricato","orcid":"https://orcid.org/0000-0002-1528-4304"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Carricato","raw_affiliation_strings":["Department of Industrial Engineering, University of Bologna, Bologna, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049498640","display_name":"Hubert Gattringer","orcid":"https://orcid.org/0000-0002-8846-9051"},"institutions":[{"id":"https://openalex.org/I121883995","display_name":"Johannes Kepler University of Linz","ror":"https://ror.org/052r2xn60","country_code":"AT","type":"education","lineage":["https://openalex.org/I121883995"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Hubert Gattringer","raw_affiliation_strings":["Institute of Robotics, Johannes Kepler University Linz, Linz, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics, Johannes Kepler University Linz, Linz, Austria","institution_ids":["https://openalex.org/I121883995"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112392532","display_name":"Andreas M\u00fcller","orcid":"https://orcid.org/0000-0001-5033-340X"},"institutions":[{"id":"https://openalex.org/I121883995","display_name":"Johannes Kepler University of Linz","ror":"https://ror.org/052r2xn60","country_code":"AT","type":"education","lineage":["https://openalex.org/I121883995"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Andreas Muller","raw_affiliation_strings":["Institute of Robotics, Johannes Kepler University Linz, Linz, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics, Johannes Kepler University Linz, Linz, Austria","institution_ids":["https://openalex.org/I121883995"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1317,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.9375,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"32","last_page":"37"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11382","display_name":"Fluid Dynamics and Heat Transfer","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T13200","display_name":"Spacecraft and Cryogenic Technologies","score":0.9761000275611877,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/slosh-dynamics","display_name":"Slosh dynamics","score":0.9886156320571899},{"id":"https://openalex.org/keywords/container","display_name":"Container (type theory)","score":0.7972304821014404},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7744863033294678},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7132543325424194},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47270700335502625},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4645291268825531},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4516529142856598},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4360079765319824},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.42872172594070435},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42112189531326294},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4034383296966553},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33140748739242554},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22884410619735718},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2253776490688324},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2055869996547699},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10389184951782227}],"concepts":[{"id":"https://openalex.org/C142784634","wikidata":"https://www.wikidata.org/wiki/Q1129460","display_name":"Slosh dynamics","level":2,"score":0.9886156320571899},{"id":"https://openalex.org/C2781018962","wikidata":"https://www.wikidata.org/wiki/Q5164884","display_name":"Container (type theory)","level":2,"score":0.7972304821014404},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7744863033294678},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7132543325424194},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47270700335502625},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4645291268825531},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4516529142856598},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4360079765319824},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.42872172594070435},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42112189531326294},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4034383296966553},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33140748739242554},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22884410619735718},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2253776490688324},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2055869996547699},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10389184951782227},{"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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icar53236.2021.9659383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659383","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/852136","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/852136","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1510460520","https://openalex.org/W2055086016","https://openalex.org/W2077382971","https://openalex.org/W2080476943","https://openalex.org/W2140220871","https://openalex.org/W2225813005","https://openalex.org/W2738610736","https://openalex.org/W2842089854","https://openalex.org/W2846201370","https://openalex.org/W2909258394","https://openalex.org/W3004271040","https://openalex.org/W3155531283","https://openalex.org/W3198963837","https://openalex.org/W4211102270","https://openalex.org/W4235434335"],"related_works":["https://openalex.org/W878535506","https://openalex.org/W2377481243","https://openalex.org/W2378307623","https://openalex.org/W2014455655","https://openalex.org/W2166909890","https://openalex.org/W2026015939","https://openalex.org/W2037449261","https://openalex.org/W4387620103","https://openalex.org/W82738333","https://openalex.org/W2604439793"],"abstract_inverted_index":{"When":[0],"considering":[1,97],"industrial":[2,63],"applications":[3],"in":[4],"which":[5],"liquid-filled":[6],"containers":[7],"are":[8,95,107],"transported":[9],"by":[10],"a":[11,40,66],"robot,":[12],"the":[13,22,31,57,75,85,105,113,116],"performed":[14],"motions":[15,83],"can":[16,45],"cause":[17],"undesired":[18],"liquid":[19,27],"stirring":[20],"inside":[21],"container":[23,68],"(also":[24],"known":[25],"as":[26],"sloshing),":[28],"especially":[29],"when":[30],"robot":[32,64],"end-effector":[33],"reaches":[34],"high":[35],"accelerations.":[36],"The":[37,51],"use":[38],"of":[39,53,61,84,115],"simple":[41],"sloshing-dynamics":[42],"prediction":[43],"model":[44],"be":[46],"used":[47],"for":[48,78],"constrained-optimization":[49],"purposes.":[50],"aim":[52],"this":[54],"work":[55],"is":[56],"time-optimal":[58],"trajectory":[59],"planning":[60],"an":[62],"carrying":[65],"cylindrical":[67],"filled":[69],"with":[70],"liquid,":[71],"imposing":[72],"limits":[73],"on":[74],"liquid's":[76],"sloshing":[77],"1D":[79],"and":[80,100,109],"2D":[81],"planar":[82],"container.":[86],"Experimental":[87],"tests":[88],"taking":[89],"into":[90],"account":[91],"three":[92],"different":[93],"paths":[94],"described,":[96],"both":[98],"non-optimized":[99],"optimized":[101],"motions.":[102],"Results":[103],"from":[104],"experiments":[106],"illustrated":[108],"discussed,":[110],"thus":[111],"proving":[112],"effectiveness":[114],"optimization.":[117]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}