{"id":"https://openalex.org/W4383108954","doi":"https://doi.org/10.1109/icra48891.2023.10160843","title":"Boundary Conditions in Geodesic Motion Planning for Manipulators","display_name":"Boundary Conditions in Geodesic Motion Planning for Manipulators","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108954","doi":"https://doi.org/10.1109/icra48891.2023.10160843"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160843","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160843","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","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/A5020242803","display_name":"Mario Laux","orcid":null},"institutions":[{"id":"https://openalex.org/I143910747","display_name":"TH Bingen University of Applied Sciences","ror":"https://ror.org/01pxkj057","country_code":"DE","type":"education","lineage":["https://openalex.org/I143910747"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Mario Laux","raw_affiliation_strings":["University of T&#x00FC;bingen,Chair of Cognitive Systems,Department of Computer Science,T&#x00FC;bingen,Germany"],"affiliations":[{"raw_affiliation_string":"University of T&#x00FC;bingen,Chair of Cognitive Systems,Department of Computer Science,T&#x00FC;bingen,Germany","institution_ids":["https://openalex.org/I143910747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004958444","display_name":"Andreas Zell","orcid":"https://orcid.org/0000-0003-3299-2211"},"institutions":[{"id":"https://openalex.org/I143910747","display_name":"TH Bingen University of Applied Sciences","ror":"https://ror.org/01pxkj057","country_code":"DE","type":"education","lineage":["https://openalex.org/I143910747"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Zell","raw_affiliation_strings":["University of T&#x00FC;bingen,Chair of Cognitive Systems,Department of Computer Science,T&#x00FC;bingen,Germany"],"affiliations":[{"raw_affiliation_string":"University of T&#x00FC;bingen,Chair of Cognitive Systems,Department of Computer Science,T&#x00FC;bingen,Germany","institution_ids":["https://openalex.org/I143910747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5020242803"],"corresponding_institution_ids":["https://openalex.org/I143910747"],"apc_list":null,"apc_paid":null,"fwci":0.123,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.38964516,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"30 2","issue":null,"first_page":"1558","last_page":"1564"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9958999752998352,"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/geodesic","display_name":"Geodesic","score":0.761721670627594},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7532358169555664},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.635490894317627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6231769323348999},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6056562662124634},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5688413381576538},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5133671164512634},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4713784158229828},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4259015917778015},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3646107316017151},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3138691782951355},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24179503321647644},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24051478505134583},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19948291778564453},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15153631567955017},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.11926138401031494},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10301369428634644},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07372227311134338}],"concepts":[{"id":"https://openalex.org/C165818556","wikidata":"https://www.wikidata.org/wiki/Q213488","display_name":"Geodesic","level":2,"score":0.761721670627594},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7532358169555664},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.635490894317627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6231769323348999},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6056562662124634},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5688413381576538},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5133671164512634},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4713784158229828},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4259015917778015},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3646107316017151},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3138691782951355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24179503321647644},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24051478505134583},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19948291778564453},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15153631567955017},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.11926138401031494},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10301369428634644},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07372227311134338},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160843","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160843","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.550000011920929,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W310341204","https://openalex.org/W1536308292","https://openalex.org/W1966080303","https://openalex.org/W1967911984","https://openalex.org/W1977174110","https://openalex.org/W1986152369","https://openalex.org/W1987174424","https://openalex.org/W2000900429","https://openalex.org/W2017507927","https://openalex.org/W2033006134","https://openalex.org/W2039414587","https://openalex.org/W2069731879","https://openalex.org/W2099893201","https://openalex.org/W2122174088","https://openalex.org/W2524387735","https://openalex.org/W2771140250","https://openalex.org/W3109321580","https://openalex.org/W3206027778","https://openalex.org/W3209755323","https://openalex.org/W4246954948","https://openalex.org/W6610848900","https://openalex.org/W6678265869","https://openalex.org/W6983410024"],"related_works":["https://openalex.org/W1978591761","https://openalex.org/W2941285539","https://openalex.org/W4287661821","https://openalex.org/W1579299075","https://openalex.org/W4206698794","https://openalex.org/W1575981832","https://openalex.org/W3089249579","https://openalex.org/W3133864228","https://openalex.org/W2604931180","https://openalex.org/W2101105382"],"abstract_inverted_index":{"In":[0],"dynamic":[1,42],"environments,":[2],"robotic":[3],"manipulators":[4],"and":[5,36,79,111],"especially":[6],"cobots":[7],"must":[8],"be":[9,104,134],"able":[10,30,45],"to":[11,13,31,46,57,106],"react":[12],"changing":[14],"circumstances":[15],"while":[16,118],"in":[17,114],"motion.":[18],"This":[19],"substantiates":[20],"the":[21,52,60,83,121,137,146],"need":[22],"for":[23,54,142],"quick":[24],"trajectory":[25],"planning":[26,70],"algorithms":[27,56,141],"that":[28,73],"are":[29],"cope":[32],"with":[33,136],"arbitrary":[34],"velocity":[35],"acceleration":[37],"boundary":[38,88,109],"conditions.":[39],"Apart":[40],"from":[41],"re-planning,":[43],"being":[44],"seamlessly":[47],"join":[48],"trajectories":[49],"together":[50],"opens":[51],"door":[53],"divide-and-conquer-type":[55],"focus":[58],"on":[59],"individual":[61],"parts":[62],"of":[63,85,100,124,139,145],"a":[64,98],"motion":[65,69],"separately.":[66],"While":[67],"geodesic":[68,125],"has":[71,90],"proven":[72],"it":[74],"can":[75,103,133],"produce":[76],"very":[77],"smooth":[78],"efficient":[80],"actuator":[81],"movement,":[82],"problem":[84],"incorporating":[86],"non-zero":[87],"conditions":[89,110],"not":[91],"been":[92],"addressed":[93],"yet.":[94],"We":[95,127],"show":[96],"how":[97,130],"set":[99],"generalized":[101],"coordinates":[102],"used":[105],"transition":[107],"between":[108],"free":[112],"movement":[113],"an":[115],"optimal":[116],"way":[117],"still":[119],"retaining":[120],"known":[122],"advantages":[123],"planners.":[126],"also":[128],"outline,":[129],"our":[131],"approach":[132],"combined":[135],"family":[138],"time-scaling":[140],"further":[143],"improvement":[144],"generated":[147],"trajectories.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}
