{"id":"https://openalex.org/W2119224729","doi":"https://doi.org/10.1109/iros.2008.4650924","title":"On-line planning of time-optimal, jerk-limited trajectories","display_name":"On-line planning of time-optimal, jerk-limited trajectories","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2119224729","doi":"https://doi.org/10.1109/iros.2008.4650924","mag":"2119224729"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650924","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pub.uni-bielefeld.de/record/1996788","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044067164","display_name":"Robert Haschke","orcid":"https://orcid.org/0000-0001-5842-9991"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"R. Haschke","raw_affiliation_strings":["Neuroinformatics Group, Faculty of Technology, Bielefeld University, Germany","Neuroinformatics Group, Bielefeld Univ., Bielefeld"],"affiliations":[{"raw_affiliation_string":"Neuroinformatics Group, Faculty of Technology, Bielefeld University, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Neuroinformatics Group, Bielefeld Univ., Bielefeld","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059076222","display_name":"Erik Weitnauer","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"E. Weitnauer","raw_affiliation_strings":["Neuroinformatics Group, Faculty of Technology, Bielefeld University, Germany","Neuroinformatics Group, Bielefeld Univ., Bielefeld"],"affiliations":[{"raw_affiliation_string":"Neuroinformatics Group, Faculty of Technology, Bielefeld University, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Neuroinformatics Group, Bielefeld Univ., Bielefeld","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074989840","display_name":"Helge Ritter","orcid":"https://orcid.org/0000-0003-1703-1906"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. Ritter","raw_affiliation_strings":["Neuroinformatics Group, Faculty of Technology, Bielefeld University, Germany","Neuroinformatics Group, Bielefeld Univ., Bielefeld"],"affiliations":[{"raw_affiliation_string":"Neuroinformatics Group, Faculty of Technology, Bielefeld University, Germany","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Neuroinformatics Group, Bielefeld Univ., Bielefeld","institution_ids":["https://openalex.org/I20121455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5044067164"],"corresponding_institution_ids":["https://openalex.org/I20121455"],"apc_list":null,"apc_paid":null,"fwci":3.1924,"has_fulltext":false,"cited_by_count":142,"citation_normalized_percentile":{"value":0.92412965,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3248","last_page":"3253"},"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":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9961000084877014,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.9659063816070557},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.7640255689620972},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.712064266204834},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6939131021499634},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6622755527496338},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6455512046813965},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5820092558860779},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5156077742576599},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49064770340919495},{"id":"https://openalex.org/keywords/time-line","display_name":"Time line","score":0.48205289244651794},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.45162928104400635},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4171481132507324},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3256019949913025},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31306445598602295},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12100589275360107}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.9659063816070557},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7640255689620972},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.712064266204834},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6939131021499634},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6622755527496338},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6455512046813965},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5820092558860779},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5156077742576599},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49064770340919495},{"id":"https://openalex.org/C2988327813","wikidata":"https://www.wikidata.org/wiki/Q186117","display_name":"Time line","level":2,"score":0.48205289244651794},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.45162928104400635},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4171481132507324},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3256019949913025},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31306445598602295},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12100589275360107},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2008.4650924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650924","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.561.9756","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.561.9756","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ni.www.techfak.uni-bielefeld.de/files/HaschkeWeitnauerRitter08-OPT.pdf","raw_type":"text"},{"id":"pmh:oai:pub.librecat.org:1996788","is_oa":true,"landing_page_url":"https://pub.uni-bielefeld.de/record/1996788","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Haschke R, Weitnauer E, Ritter H. On-Line Planning of Time-Optimal, Jerk-Limited Trajectories. In:  <em>IEEE/RSJ Int. Conf. on Intelligent Robots and Systems</em>. IEEE;  2008: 3248-3253.","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:pub.librecat.org:1996788","is_oa":true,"landing_page_url":"https://pub.uni-bielefeld.de/record/1996788","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Haschke R, Weitnauer E, Ritter H. On-Line Planning of Time-Optimal, Jerk-Limited Trajectories. In:  <em>IEEE/RSJ Int. Conf. on Intelligent Robots and Systems</em>. IEEE;  2008: 3248-3253.","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W2111112078","https://openalex.org/W2115091574","https://openalex.org/W2157087522","https://openalex.org/W2160610064","https://openalex.org/W2162136128"],"related_works":["https://openalex.org/W2118664347","https://openalex.org/W4313071561","https://openalex.org/W3090998422","https://openalex.org/W4239859576","https://openalex.org/W3128452364","https://openalex.org/W2166809513","https://openalex.org/W2244960081","https://openalex.org/W2319870462","https://openalex.org/W2182407375","https://openalex.org/W4205699800"],"abstract_inverted_index":{"Service":[0],"robots":[1],"which":[2,44],"directly":[3],"interact":[4],"with":[5],"humans":[6],"in":[7,22,37],"highly":[8],"unstructured,":[9],"unpredictable":[10],"and":[11,29,49,67,79],"dynamic":[12],"environments":[13],"must":[14,31],"be":[15],"able":[16],"to":[17,24,64],"flexibly":[18],"adapt":[19],"their":[20],"motion":[21,47,74],"reaction":[23],"unforeseen":[25],"events":[26],"or":[27],"obstacles":[28],"they":[30],"provide":[32],"a":[33,61,86],"new":[34],"feasible":[35],"trajectory":[36],"real-time.":[38],"Hence,":[39],"algorithms":[40],"come":[41],"into":[42],"focus":[43],"replan":[45],"the":[46],"path":[48],"its":[50],"time":[51],"evolution":[52],"from":[53],"arbitrary":[54],"initial":[55],"conditions":[56],"within":[57],"milliseconds.":[58],"We":[59],"present":[60],"real-time":[62],"algorithm":[63],"generate":[65],"synchronised":[66],"time-optimal":[68],"third-order":[69],"manipulator":[70],"trajectories":[71],"complying":[72],"maximal":[73],"limits":[75],"on":[76,85],"velocity,":[77],"acceleration":[78],"jerk.":[80],"Experimental":[81],"results":[82],"carried":[83],"out":[84],"Mitsubishi":[87],"PA10-7C":[88],"arm":[89],"are":[90],"presented.":[91]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":18},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":8}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}