{"id":"https://openalex.org/W2771588210","doi":"https://doi.org/10.1109/iros.2017.8205984","title":"Locally optimal trajectory planning for aerial manipulation in constrained environments","display_name":"Locally optimal trajectory planning for aerial manipulation in constrained environments","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2771588210","doi":"https://doi.org/10.1109/iros.2017.8205984","mag":"2771588210"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8205984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8205984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5103058532","display_name":"Hoseong Seo","orcid":"https://orcid.org/0000-0002-1485-3712"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hoseong Seo","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101904804","display_name":"Suseong Kim","orcid":"https://orcid.org/0000-0003-0833-8631"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Suseong Kim","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108702791","display_name":"H. Jin Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"H. Jin Kim","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103058532"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":1.0923,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.86546946,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9975000023841858,"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/trajectory","display_name":"Trajectory","score":0.7546989321708679},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.6230707168579102},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5708797574043274},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5644912123680115},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47455722093582153},{"id":"https://openalex.org/keywords/flatness","display_name":"Flatness (cosmology)","score":0.4678894579410553},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4626484811306},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4574436843395233},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4356309175491333},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4158773422241211},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.3546209931373596},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.333207368850708},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29647302627563477},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28573673963546753},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2136896550655365},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13293328881263733}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7546989321708679},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.6230707168579102},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5708797574043274},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5644912123680115},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47455722093582153},{"id":"https://openalex.org/C2778530986","wikidata":"https://www.wikidata.org/wiki/Q5457948","display_name":"Flatness (cosmology)","level":3,"score":0.4678894579410553},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4626484811306},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4574436843395233},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4356309175491333},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4158773422241211},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3546209931373596},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.333207368850708},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29647302627563477},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28573673963546753},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2136896550655365},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13293328881263733},{"id":"https://openalex.org/C26405456","wikidata":"https://www.wikidata.org/wiki/Q338","display_name":"Cosmology","level":2,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8205984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8205984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1497695555","https://openalex.org/W1525021737","https://openalex.org/W1557353344","https://openalex.org/W1592483312","https://openalex.org/W1602973160","https://openalex.org/W1999941908","https://openalex.org/W2008364784","https://openalex.org/W2013439434","https://openalex.org/W2019896740","https://openalex.org/W2021101383","https://openalex.org/W2109656638","https://openalex.org/W2142424817","https://openalex.org/W2181845023","https://openalex.org/W2293883387","https://openalex.org/W2299591669","https://openalex.org/W2313767655","https://openalex.org/W2418368699","https://openalex.org/W2482392012","https://openalex.org/W2560859388","https://openalex.org/W2738298787","https://openalex.org/W2757657624","https://openalex.org/W6655188812"],"related_works":["https://openalex.org/W2262795564","https://openalex.org/W1564737139","https://openalex.org/W2376116574","https://openalex.org/W2754703496","https://openalex.org/W2181958737","https://openalex.org/W2384957879","https://openalex.org/W2272871395","https://openalex.org/W3036124189","https://openalex.org/W2165838997","https://openalex.org/W2087573130"],"abstract_inverted_index":{"Aerial":[0],"manipulation":[1,26,38],"tasks":[2],"necessitate":[3],"a":[4,16,55,74,81,89,101,116],"reliable":[5],"trajectory":[6,23,91],"planning":[7],"algorithms":[8],"to":[9,45],"perform":[10],"complicated":[11],"tasks.":[12],"This":[13],"paper":[14],"provides":[15],"method":[17],"of":[18,35,54,70,85,110,122],"developing":[19],"the":[20,36,41,52,60,123],"locally":[21,61],"optimal":[22,62],"for":[24],"aerial":[25,37],"in":[27,92,115],"constrained":[28],"environments.":[29],"We":[30,105],"first":[31],"show":[32],"differential":[33],"flatness":[34],"system":[39],"when":[40],"inertial":[42],"effect":[43],"due":[44],"equipped":[46],"robotic":[47],"arm":[48],"is":[49],"compensated":[50],"with":[51],"aid":[53],"robust":[56],"controller.":[57],"To":[58],"find":[59],"path,":[63],"we":[64,87],"parameterize":[65],"flat":[66],"outputs":[67],"as":[68],"polynomials":[69],"time,":[71,95],"and":[72],"formulate":[73],"sequential":[75],"quadratic":[76],"programming":[77],"(SQP)":[78],"problem.":[79],"Given":[80],"convex":[82],"mesh":[83],"representation":[84],"environment,":[86],"obtain":[88],"collision-free":[90],"almost":[93],"real":[94],"by":[96],"imposing":[97],"constraints":[98],"based":[99],"on":[100],"signed":[102],"distance":[103],"metric.":[104],"also":[106],"conduct":[107],"an":[108,112],"experiment":[109],"operating":[111],"object":[113],"located":[114],"confined":[117],"space,":[118],"which":[119],"validates":[120],"effectiveness":[121],"proposed":[124],"algorithm.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}