{"id":"https://openalex.org/W4383097446","doi":"https://doi.org/10.1109/icra48891.2023.10160911","title":"Trajectory Optimization for 3D Shape-Changing Robots with Differential Mobile Base","display_name":"Trajectory Optimization for 3D Shape-Changing Robots with Differential Mobile Base","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383097446","doi":"https://doi.org/10.1109/icra48891.2023.10160911"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160911","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/A5104138939","display_name":"Mengke Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mengke Zhang","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,The State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","Yunjing Intelligent (Shenzhen) Co. Ltd, Shenzhen, China","Huzhou Institute, Zhejiang University, Huzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,The State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]},{"raw_affiliation_string":"Yunjing Intelligent (Shenzhen) Co. Ltd, Shenzhen, China","institution_ids":[]},{"raw_affiliation_string":"Huzhou Institute, Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050543156","display_name":"Chao Xu","orcid":"https://orcid.org/0000-0002-2759-6364"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]},{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Xu","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,The State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","Huzhou Institute, Zhejiang University, Huzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,The State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]},{"raw_affiliation_string":"Huzhou Institute, Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086914377","display_name":"Fei Gao","orcid":"https://orcid.org/0000-0002-6513-374X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Gao","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,The State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","Huzhou Institute, Zhejiang University, Huzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,The State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]},{"raw_affiliation_string":"Huzhou Institute, Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052272297","display_name":"Yanjun Cao","orcid":"https://orcid.org/0000-0001-7771-849X"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I3018263800","display_name":"Huzhou University","ror":"https://ror.org/04mvpxy20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3018263800"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjun Cao","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,The State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","Huzhou Institute, Zhejiang University, Huzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,The State Key Laboratory of Industrial Control Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]},{"raw_affiliation_string":"Huzhou Institute, Zhejiang University, Huzhou, China","institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5104138939"],"corresponding_institution_ids":["https://openalex.org/I3018263800","https://openalex.org/I4391767838","https://openalex.org/I55712492","https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.6149,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.68897048,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"10104","last_page":"10110"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8290197849273682},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.657536506652832},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5910159349441528},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5860907435417175},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.5365580916404724},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5142731070518494},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.504001796245575},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4955834150314331},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4933678209781647},{"id":"https://openalex.org/keywords/differential-evolution","display_name":"Differential evolution","score":0.4587211608886719},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.430919885635376},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2168213129043579},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17810410261154175},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1694493591785431},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0939297080039978},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08526244759559631}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8290197849273682},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.657536506652832},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5910159349441528},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5860907435417175},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.5365580916404724},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5142731070518494},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.504001796245575},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4955834150314331},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4933678209781647},{"id":"https://openalex.org/C74750220","wikidata":"https://www.wikidata.org/wiki/Q2662197","display_name":"Differential evolution","level":2,"score":0.4587211608886719},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.430919885635376},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2168213129043579},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17810410261154175},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1694493591785431},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0939297080039978},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08526244759559631},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160911","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":[],"awards":[{"id":"https://openalex.org/G7104452795","display_name":null,"funder_award_id":"62103368","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1518641734","https://openalex.org/W1738124305","https://openalex.org/W1996183429","https://openalex.org/W2019965290","https://openalex.org/W2051434435","https://openalex.org/W2062573767","https://openalex.org/W2099893201","https://openalex.org/W2141664020","https://openalex.org/W2212786010","https://openalex.org/W2891263320","https://openalex.org/W2904651821","https://openalex.org/W2949691147","https://openalex.org/W3090809286","https://openalex.org/W3097391724","https://openalex.org/W3102365391","https://openalex.org/W3135798748","https://openalex.org/W3159434032","https://openalex.org/W3206619562","https://openalex.org/W4221112529","https://openalex.org/W4285102643"],"related_works":["https://openalex.org/W2020829486","https://openalex.org/W2383775285","https://openalex.org/W1904098742","https://openalex.org/W2016451691","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W4292862729"],"abstract_inverted_index":{"Service":[0],"robots":[1,16,21,47],"have":[2,23],"attracted":[3],"extensive":[4],"attention":[5],"due":[6],"to":[7,95,161],"specially":[8],"designed":[9,127],"functions,":[10],"such":[11],"as":[12,61],"mobile":[13,46],"manipulators":[14],"or":[15],"with":[17,48,132],"extra":[18,77],"structures.":[19],"For":[20],"that":[22,65],"changing":[24,50],"shapes,":[25],"autonomous":[26],"navigation":[27],"in":[28,52],"the":[29,58,67,71,76,103,110],"real":[30],"world":[31],"presents":[32],"new":[33],"challenges.":[34],"In":[35,99],"this":[36],"paper,":[37],"we":[38,101,126],"propose":[39],"a":[40,62,118,128,133,142,150],"trajectory":[41,60,64,139,146],"optimization":[42,140],"method":[43],"for":[44,90,147],"differential-drive":[45],"controllable":[49],"shapes":[51],"dense":[53,91],"3D":[54],"environments.":[55],"We":[56,154],"model":[57],"whole-body":[59,167],"polynomial":[63],"satisfies":[66],"nonholonomic":[68],"dynamics":[69,74],"of":[70,75,105,121],"base":[72],"and":[73,86,123,144,158,168],"joints.":[78],"These":[79],"constraints":[80],"are":[81],"converted":[82],"into":[83],"soft":[84],"constraints,":[85],"an":[87],"activation":[88],"function":[89],"sampling":[92],"is":[93],"applied":[94],"avoid":[96],"nonlinear":[97],"mutations.":[98],"addition,":[100],"guarantee":[102],"safety":[104],"full":[106],"shape":[107],"by":[108],"limiting":[109],"system's":[111],"distance":[112],"from":[113],"obstacles.":[114],"To":[115],"comprehensively":[116],"simulate":[117],"large":[119],"extent":[120],"height":[122],"width":[124],"changes,":[125],"novel":[129],"Shape-Changing":[130],"Robot":[131],"Differential":[134],"Base":[135],"(SCR-DB).":[136],"Our":[137],"global":[138],"gives":[141],"smooth":[143],"collision-free":[145],"SCR-DB":[148],"at":[149],"low":[151],"computational":[152],"cost.":[153],"present":[155],"vast":[156],"simulations":[157],"real-world":[159],"experiments":[160],"validate":[162],"our":[163],"performance,":[164],"including":[165],"coupled":[166],"independent":[169],"differential-driven":[170],"vehicle":[171],"motion":[172],"planning.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}