{"id":"https://openalex.org/W2097560018","doi":"https://doi.org/10.1109/icra.2011.5980374","title":"Energy-optimal velocity profiles for car-like robots","display_name":"Energy-optimal velocity profiles for car-like robots","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2097560018","doi":"https://doi.org/10.1109/icra.2011.5980374","mag":"2097560018"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980374","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5086188394","display_name":"Pratap Tokekar","orcid":"https://orcid.org/0000-0002-3715-0382"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Pratap Tokekar","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","Department of Computer Science and Engineering, University of Minnesota, 200 Union Street SE, Minneapolis 55414 USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, 200 Union Street SE, Minneapolis 55414 USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073692530","display_name":"Nikhil Karnad","orcid":"https://orcid.org/0000-0003-4935-7142"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikhil Karnad","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","Department of Computer Science and Engineering, University of Minnesota, 200 Union Street SE, Minneapolis 55414 USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, 200 Union Street SE, Minneapolis 55414 USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033839227","display_name":"Volkan Isler","orcid":"https://orcid.org/0000-0002-0868-5441"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Volkan Isler","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","Department of Computer Science and Engineering, University of Minnesota, 200 Union Street SE, Minneapolis 55414 USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, 200 Union Street SE, Minneapolis 55414 USA","institution_ids":["https://openalex.org/I130238516"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5086188394"],"corresponding_institution_ids":["https://openalex.org/I130238516"],"apc_list":null,"apc_paid":null,"fwci":3.6623,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.94354639,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1457","last_page":"1462"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9993000030517578,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.993399977684021,"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/robot","display_name":"Robot","score":0.7598066926002502},{"id":"https://openalex.org/keywords/subroutine","display_name":"Subroutine","score":0.7236650586128235},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.6687211990356445},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6264873147010803},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5913867950439453},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5713051557540894},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5556176900863647},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5190839767456055},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.5111666321754456},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.4146847128868103},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40418243408203125},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23961666226387024},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22305789589881897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17825397849082947},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.14212149381637573},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1164177656173706},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10604572296142578},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07281890511512756},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.06750911474227905}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7598066926002502},{"id":"https://openalex.org/C96147967","wikidata":"https://www.wikidata.org/wiki/Q190686","display_name":"Subroutine","level":2,"score":0.7236650586128235},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.6687211990356445},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6264873147010803},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5913867950439453},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5713051557540894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5556176900863647},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5190839767456055},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.5111666321754456},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.4146847128868103},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40418243408203125},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23961666226387024},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22305789589881897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17825397849082947},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.14212149381637573},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1164177656173706},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10604572296142578},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07281890511512756},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.06750911474227905},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra.2011.5980374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980374","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.402.3861","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.402.3861","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.umn.edu/tech_reports_upload/tr2011/11-003.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.592.1034","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.592.1034","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-users.cs.umn.edu/~isler/pub/icra11tokekar.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.714.7959","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.714.7959","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://tokekar.com/pubs/tokekar2011energy.pdf","raw_type":"text"},{"id":"pmh:oai:conservancy.umn.edu:11299/215850","is_oa":false,"landing_page_url":"http://hdl.handle.net/11299/215850","pdf_url":null,"source":{"id":"https://openalex.org/S4306402521","display_name":"University of Minnesota Digital Conservancy (University of Minnesota)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130238516","host_organization_name":"University of Minnesota","host_organization_lineage":["https://openalex.org/I130238516"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Report"}],"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":7,"referenced_works":["https://openalex.org/W1574514837","https://openalex.org/W1848513657","https://openalex.org/W1980218901","https://openalex.org/W1999687077","https://openalex.org/W2097560018","https://openalex.org/W2108434160","https://openalex.org/W2109032771"],"related_works":["https://openalex.org/W2391861012","https://openalex.org/W2488336788","https://openalex.org/W4285469493","https://openalex.org/W1593224248","https://openalex.org/W2080384954","https://openalex.org/W2375766869","https://openalex.org/W4382519933","https://openalex.org/W3151465598","https://openalex.org/W2368144149","https://openalex.org/W316204541"],"abstract_inverted_index":{"For":[0,123],"battery-powered":[1],"mobile":[2],"robots":[3,47],"to":[4,14,20,50,150],"operate":[5],"for":[6,45,67,78,83,120,136],"long":[7],"periods":[8],"of":[9,31,41,70,106],"time,":[10],"it":[11],"is":[12,88,104],"critical":[13],"optimize":[15],"their":[16],"motion":[17],"so":[18,48],"as":[19,49,140],"minimize":[21,51],"energy":[22,53,68],"consumption.":[23,33],"The":[24],"driving":[25],"motors":[26],"are":[27,115],"a":[28,58,89,97,117,128,141,147,162],"major":[29],"source":[30],"power":[32],"In":[34,143],"this":[35,124],"paper,":[36],"we":[37,126,145,155],"study":[38,96],"the":[39,52,79,84,101,134,137],"problem":[40,99],"finding":[42],"velocity":[43,118],"profiles":[44],"car-like":[46],"consumed":[54],"while":[55],"traveling":[56],"along":[57],"given":[59,116],"path.":[60],"We":[61,73,94,114],"start":[62],"with":[63],"an":[64],"established":[65],"model":[66,152],"consumption":[69],"DC":[71],"motors.":[72],"present":[74,127,146,156],"closed":[75],"form":[76],"solutions":[77],"unconstrained":[80],"case":[81,85,139],"and":[82,111],"where":[86,100],"there":[87],"bound":[90,119],"on":[91,161],"maximum":[92],"velocity.":[93],"also":[95],"general":[98],"robot's":[102],"path":[103],"composed":[105],"segments":[107],"(e.g.":[108],"circular":[109],"arcs":[110],"line":[112],"segments).":[113],"each":[121],"segment.":[122],"problem,":[125],"dynamic":[129],"programming":[130],"solution":[131,135],"which":[132],"uses":[133],"single-constraint":[138],"subroutine.":[142],"addition,":[144],"calibration":[148],"method":[149],"find":[151],"parameters.":[153],"Finally,":[154],"results":[157],"from":[158],"experiments":[159],"conducted":[160],"custom-built":[163],"robot.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-18T05:59:34.339393","created_date":"2025-10-10T00:00:00"}