{"id":"https://openalex.org/W2067213816","doi":"https://doi.org/10.1109/iecon.2012.6389139","title":"Recursive motion planning using optimal vector smoothing splines with cross-coupled constraints","display_name":"Recursive motion planning using optimal vector smoothing splines with cross-coupled constraints","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2067213816","doi":"https://doi.org/10.1109/iecon.2012.6389139","mag":"2067213816"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2012.6389139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2012.6389139","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society","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/A5110601611","display_name":"Hiroyuki Fujioka","orcid":null},"institutions":[{"id":"https://openalex.org/I100722782","display_name":"Fukuoka Institute of Technology","ror":"https://ror.org/00bmxak18","country_code":"JP","type":"education","lineage":["https://openalex.org/I100722782"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hiroyuki Fujioka","raw_affiliation_strings":["Department of System Management, Fukuoka Institute of Technology, Fukuoka, Japan","Department of System Management, Fukuoka Institute of Technology, 811-0295, Japan"],"affiliations":[{"raw_affiliation_string":"Department of System Management, Fukuoka Institute of Technology, Fukuoka, Japan","institution_ids":["https://openalex.org/I100722782"]},{"raw_affiliation_string":"Department of System Management, Fukuoka Institute of Technology, 811-0295, Japan","institution_ids":["https://openalex.org/I100722782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112612357","display_name":"Hiroyuki Kano","orcid":null},"institutions":[{"id":"https://openalex.org/I165522056","display_name":"Tokyo Denki University","ror":"https://ror.org/01pa62v70","country_code":"JP","type":"education","lineage":["https://openalex.org/I165522056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroyuki Kano","raw_affiliation_strings":["Division of Science, Tokyo Denki University, Saitama, Japan","Division of Science, Tokyo Denki University, Saitama 350-0394, JAPAN"],"affiliations":[{"raw_affiliation_string":"Division of Science, Tokyo Denki University, Saitama, Japan","institution_ids":["https://openalex.org/I165522056"]},{"raw_affiliation_string":"Division of Science, Tokyo Denki University, Saitama 350-0394, JAPAN","institution_ids":["https://openalex.org/I165522056"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5110601611"],"corresponding_institution_ids":["https://openalex.org/I100722782"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.13346333,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"2768","last_page":"2773"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9998000264167786,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9940999746322632,"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/T10963","display_name":"Advanced Optimization Algorithms Research","score":0.9783999919891357,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.6590372920036316},{"id":"https://openalex.org/keywords/smoothing-spline","display_name":"Smoothing spline","score":0.653331458568573},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5852932929992676},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5731402039527893},{"id":"https://openalex.org/keywords/spline","display_name":"Spline (mechanical)","score":0.5617283582687378},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.46029743552207947},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.44824960827827454},{"id":"https://openalex.org/keywords/basis-function","display_name":"Basis function","score":0.4292723536491394},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.417097806930542},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3775908946990967},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19635623693466187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15456059575080872},{"id":"https://openalex.org/keywords/spline-interpolation","display_name":"Spline interpolation","score":0.09083780646324158}],"concepts":[{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.6590372920036316},{"id":"https://openalex.org/C107457265","wikidata":"https://www.wikidata.org/wiki/Q7546460","display_name":"Smoothing spline","level":4,"score":0.653331458568573},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5852932929992676},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5731402039527893},{"id":"https://openalex.org/C10390562","wikidata":"https://www.wikidata.org/wiki/Q581809","display_name":"Spline (mechanical)","level":2,"score":0.5617283582687378},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.46029743552207947},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.44824960827827454},{"id":"https://openalex.org/C5917680","wikidata":"https://www.wikidata.org/wiki/Q2621825","display_name":"Basis function","level":2,"score":0.4292723536491394},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.417097806930542},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3775908946990967},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19635623693466187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15456059575080872},{"id":"https://openalex.org/C31447003","wikidata":"https://www.wikidata.org/wiki/Q545002","display_name":"Spline interpolation","level":3,"score":0.09083780646324158},{"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/C205203396","wikidata":"https://www.wikidata.org/wiki/Q612143","display_name":"Bilinear interpolation","level":2,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2012.6389139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2012.6389139","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W5206306","https://openalex.org/W139131351","https://openalex.org/W1598601579","https://openalex.org/W2023977689","https://openalex.org/W2026074868","https://openalex.org/W2113737554","https://openalex.org/W2139757292","https://openalex.org/W2148110735","https://openalex.org/W2154965783","https://openalex.org/W2987171304","https://openalex.org/W4242811155","https://openalex.org/W4301909677"],"related_works":["https://openalex.org/W1981039615","https://openalex.org/W1690623585","https://openalex.org/W2499055041","https://openalex.org/W4243970242","https://openalex.org/W1949299996","https://openalex.org/W3123557714","https://openalex.org/W2964021668","https://openalex.org/W2375026377","https://openalex.org/W2059465695","https://openalex.org/W2131662362"],"abstract_inverted_index":{"In":[0,142],"this":[1],"paper,":[2],"we":[3,101,130,144],"address":[4],"an":[5,45],"efficient":[6],"motion":[7,150],"planning":[8,151],"method":[9,14,105,113,148],"using":[10],"a":[11,54,92,103,112,137],"recursive":[12,104],"design":[13],"of":[15,48,63,68,84,122,160],"vector":[16,88],"smoothing":[17,89],"spline":[18,132],"curves":[19,133],"with":[20],"equality":[21],"and/or":[22],"inequality":[23],"constraints.":[24],"The":[25,162],"splines":[26,90],"are":[27,124],"constituted":[28],"employing":[29],"normalized":[30],"uniform":[31],"B-splines":[32],"as":[33,65,155],"the":[34,39,49,82,86,108,146,158],"basis":[35],"functions,":[36],"and":[37,129,152],"hence":[38],"central":[40],"issue":[41],"is":[42,79,114,140,164],"to":[43,59,149],"determine":[44],"optimal":[46],"matrix":[47],"so-called":[50],"control":[51,69],"points.":[52],"Such":[53,111],"B-spline":[55],"approach":[56],"enables":[57],"us":[58],"express":[60],"various":[61],"types":[62],"constraints":[64,74],"linear":[66],"function":[67],"points,":[70],"including":[71],"those":[72],"coupled":[73],"among":[75],"curves.":[76],"Then,":[77],"it":[78],"shown":[80,156],"that":[81],"problem":[83],"constructing":[85,107],"constrained":[87,109],"becomes":[91],"convex":[93],"quadratic":[94],"programming":[95],"problem.":[96],"Based":[97],"on":[98],"these":[99],"results,":[100],"develop":[102],"for":[106],"splines.":[110],"useful":[115],"in":[116,157],"practice":[117],"especially":[118],"when":[119,136],"some":[120,167],"sets":[121],"data":[123],"observed":[125],"one":[126],"after":[127],"another":[128],"construct":[131],"each":[134],"time":[135],"new":[138],"set":[139],"given.":[141],"particular,":[143],"apply":[145],"proposed":[147],"replanning":[153],"problems":[154],"field":[159],"robotics.":[161],"performance":[163],"examined":[165],"by":[166],"numerical":[168],"examples.":[169]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}