{"id":"https://openalex.org/W2081473521","doi":"https://doi.org/10.1109/icra.2012.6224920","title":"Improved non-linear spline fitting for teaching trajectories to mobile robots","display_name":"Improved non-linear spline fitting for teaching trajectories to mobile robots","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2081473521","doi":"https://doi.org/10.1109/icra.2012.6224920","mag":"2081473521"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224920","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224920","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5032319796","display_name":"Christoph Sprunk","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Christoph Sprunk","raw_affiliation_strings":["Computer science Department, University of Freiburg, Germany","Computer science department at the University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Computer science Department, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Computer science department at the University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063131946","display_name":"Boris Lau","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Boris Lau","raw_affiliation_strings":["Computer science Department, University of Freiburg, Germany","Computer science department at the University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Computer science Department, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Computer science department at the University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Computer science Department, University of Freiburg, Germany","Computer science department at the University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Computer science Department, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Computer science department at the University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5032319796"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":1.3727,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.83418796,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"29","issue":null,"first_page":"2068","last_page":"2073"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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":0.9990000128746033,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9760000109672546,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9718999862670898,"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/spline","display_name":"Spline (mechanical)","score":0.7516483068466187},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.604488730430603},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5955065488815308},{"id":"https://openalex.org/keywords/curve-fitting","display_name":"Curve fitting","score":0.5737317800521851},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.571913480758667},{"id":"https://openalex.org/keywords/parametric-equation","display_name":"Parametric equation","score":0.5520935654640198},{"id":"https://openalex.org/keywords/data-point","display_name":"Data point","score":0.5496989488601685},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5283770561218262},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.524163007736206},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5088310837745667},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.49971699714660645},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.48809897899627686},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4778180420398712},{"id":"https://openalex.org/keywords/b-spline","display_name":"B-spline","score":0.4680841565132141},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4168230891227722},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.41498681902885437},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3515847325325012},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3057979643344879},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1561727225780487},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.13598215579986572},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10187381505966187},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08803308010101318}],"concepts":[{"id":"https://openalex.org/C10390562","wikidata":"https://www.wikidata.org/wiki/Q581809","display_name":"Spline (mechanical)","level":2,"score":0.7516483068466187},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.604488730430603},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5955065488815308},{"id":"https://openalex.org/C184389593","wikidata":"https://www.wikidata.org/wiki/Q603159","display_name":"Curve fitting","level":2,"score":0.5737317800521851},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.571913480758667},{"id":"https://openalex.org/C99636146","wikidata":"https://www.wikidata.org/wiki/Q35889","display_name":"Parametric equation","level":2,"score":0.5520935654640198},{"id":"https://openalex.org/C21080849","wikidata":"https://www.wikidata.org/wiki/Q13611879","display_name":"Data point","level":2,"score":0.5496989488601685},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5283770561218262},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.524163007736206},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5088310837745667},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.49971699714660645},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.48809897899627686},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4778180420398712},{"id":"https://openalex.org/C15945459","wikidata":"https://www.wikidata.org/wiki/Q2083109","display_name":"B-spline","level":2,"score":0.4680841565132141},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4168230891227722},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.41498681902885437},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3515847325325012},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3057979643344879},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1561727225780487},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.13598215579986572},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10187381505966187},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08803308010101318},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6224920","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224920","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W23008737","https://openalex.org/W1549280300","https://openalex.org/W2052286413","https://openalex.org/W2081203294","https://openalex.org/W2129400264","https://openalex.org/W2131254103","https://openalex.org/W2136644454","https://openalex.org/W2148110735","https://openalex.org/W2154543878","https://openalex.org/W2158970477","https://openalex.org/W2159064333","https://openalex.org/W2162695884","https://openalex.org/W2187932741","https://openalex.org/W6600962921","https://openalex.org/W6632662516","https://openalex.org/W6683886023"],"related_works":["https://openalex.org/W2990252123","https://openalex.org/W2162968378","https://openalex.org/W1972621397","https://openalex.org/W2128165404","https://openalex.org/W4220831934","https://openalex.org/W185252163","https://openalex.org/W2408052914","https://openalex.org/W1994794192","https://openalex.org/W1983924674","https://openalex.org/W2965690233"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,23],"present":[4],"improved":[5],"spline":[6],"fitting":[7,38],"techniques":[8],"with":[9,102,124],"the":[10,31,52,56,84,94,100,109,117],"application":[11],"of":[12,96,119],"trajectory":[13,32],"teaching":[14],"for":[15,89,99],"mobile":[16],"robots.":[17],"Given":[18],"a":[19,34,64],"recorded":[20],"reference":[21],"trajectory,":[22],"apply":[24],"non-linear":[25],"least-squares":[26],"optimization":[27,91],"to":[28,78,92,105],"accurately":[29],"approximate":[30],"using":[33,63],"parametric":[35],"spline.":[36],"The":[37],"process":[39],"is":[40],"carried":[41],"out":[42],"without":[43],"fixed":[44],"correspondences":[45],"between":[46],"data":[47,115],"points":[48,50],"and":[49],"along":[51],"spline,":[53],"which":[54],"improves":[55],"fit":[57],"especially":[58],"in":[59,122],"sharp":[60],"curves.":[61],"By":[62],"specific":[65],"path":[66],"model,":[67],"our":[68,120],"approach":[69],"requires":[70],"substantially":[71],"fewer":[72],"free":[73],"parameters":[74],"than":[75],"standard":[76,125],"approaches":[77],"achieve":[79],"similar":[80],"residual":[81],"errors.":[82],"Thus,":[83],"generated":[85],"paths":[86],"are":[87],"ideal":[88],"subsequent":[90],"reduce":[93],"time":[95],"travel":[97],"or":[98],"combination":[101],"autonomous":[103],"planning":[104],"evade":[106],"obstacles":[107],"blocking":[108],"path.":[110],"Our":[111],"experiments":[112],"on":[113],"real-world":[114],"demonstrate":[116],"advantages":[118],"method":[121],"comparison":[123],"approaches.":[126]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
