{"id":"https://openalex.org/W2908526767","doi":"https://doi.org/10.1109/iros.2018.8593657","title":"On the Orientation Planning with Constrained Angular Velocity and Acceleration at Endpoints","display_name":"On the Orientation Planning with Constrained Angular Velocity and Acceleration at Endpoints","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2908526767","doi":"https://doi.org/10.1109/iros.2018.8593657","mag":"2908526767"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593657","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593657","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5064041436","display_name":"Mohammad Shahbazi","orcid":"https://orcid.org/0000-0001-9479-6756"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Mohammad Shahbazi","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070252862","display_name":"Navvab Kashiri","orcid":"https://orcid.org/0000-0002-1219-2447"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Navvab Kashiri","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikolaos Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5064041436"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.3679,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.63355326,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"7033","last_page":"7038"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.7529635429382324},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.5674401521682739},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5537437796592712},{"id":"https://openalex.org/keywords/normalization","display_name":"Normalization (sociology)","score":0.5209020972251892},{"id":"https://openalex.org/keywords/spline","display_name":"Spline (mechanical)","score":0.5076600313186646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5071876049041748},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.4893485903739929},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4863791763782501},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4776014983654022},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4610201120376587},{"id":"https://openalex.org/keywords/angular-acceleration","display_name":"Angular acceleration","score":0.4523918032646179},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4435867667198181},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3757026791572571},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3674886226654053},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35594257712364197},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35209670662879944},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3434271216392517},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.21037918329238892},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10536849498748779}],"concepts":[{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.7529635429382324},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.5674401521682739},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5537437796592712},{"id":"https://openalex.org/C136886441","wikidata":"https://www.wikidata.org/wiki/Q926129","display_name":"Normalization (sociology)","level":2,"score":0.5209020972251892},{"id":"https://openalex.org/C10390562","wikidata":"https://www.wikidata.org/wiki/Q581809","display_name":"Spline (mechanical)","level":2,"score":0.5076600313186646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5071876049041748},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.4893485903739929},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4863791763782501},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4776014983654022},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4610201120376587},{"id":"https://openalex.org/C190704821","wikidata":"https://www.wikidata.org/wiki/Q186300","display_name":"Angular acceleration","level":3,"score":0.4523918032646179},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4435867667198181},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3757026791572571},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3674886226654053},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35594257712364197},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35209670662879944},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3434271216392517},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.21037918329238892},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10536849498748779},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8593657","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593657","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W5756894","https://openalex.org/W595093130","https://openalex.org/W1524850277","https://openalex.org/W1527697199","https://openalex.org/W1564897360","https://openalex.org/W1973484256","https://openalex.org/W1977174110","https://openalex.org/W1989742860","https://openalex.org/W2012294177","https://openalex.org/W2024145790","https://openalex.org/W2113265921","https://openalex.org/W2128574024","https://openalex.org/W2147774191","https://openalex.org/W2164032318","https://openalex.org/W2297059176","https://openalex.org/W2612636433","https://openalex.org/W2772044689","https://openalex.org/W2774786150","https://openalex.org/W2792743043","https://openalex.org/W3213532831","https://openalex.org/W4213187341","https://openalex.org/W4301374466","https://openalex.org/W4389948148","https://openalex.org/W6600214498","https://openalex.org/W6747115968","https://openalex.org/W6803818353","https://openalex.org/W6907048741"],"related_works":["https://openalex.org/W3208757836","https://openalex.org/W1973219514","https://openalex.org/W2067537352","https://openalex.org/W1510705688","https://openalex.org/W2322149471","https://openalex.org/W2363911845","https://openalex.org/W1689658419","https://openalex.org/W2275557598","https://openalex.org/W136283090","https://openalex.org/W2357032748"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"orientation":[3,38],"planning":[4],"algorithms":[5,20,131],"respecting":[6],"the":[7,22,79,98,101,107,123,129],"requirements":[8],"of":[9,68,87,128],"task":[10],"space":[11],"trajectory":[12],"generation,":[13],"particularly":[14],"in":[15,35,70,132],"robotics":[16],"applications.":[17],"The":[18,60],"proposed":[19,130],"fulfill":[21],"following":[23],"conditions:":[24],"(i)":[25],"permitting":[26],"to":[27,37,121],"impose":[28,78],"constraints":[29],"at":[30,39],"angular":[31],"velocity":[32],"and":[33,51,125],"acceleration":[34,44],"addition":[36],"endpoints;":[40],"(ii)":[41],"rendering":[42],"continuous":[43],"profiles":[45],"even":[46],"when":[47],"interpolating":[48],"multiple":[49],"orientations;":[50],"(iii)":[52],"being":[53],"computationally":[54],"fast":[55],"enough":[56],"for":[57,84],"realtime":[58],"implementation.":[59],"generated":[61],"spline":[62],"trajectories":[63],"are":[64,118],"essentially":[65],"a":[66,135],"concatenation":[67],"polynomial":[69],"time":[71],"curves":[72],"parameterized":[73],"by":[74],"quaternion":[75,85],"coefficients.":[76],"To":[77],"unitariness":[80],"condition":[81],"critically":[82],"required":[83],"representation":[86],"orientation,":[88],"we":[89],"develop":[90],"an":[91,114],"on-line":[92],"update":[93],"mechanism":[94],"which":[95],"successively":[96],"reparameterizes":[97],"polynomials":[99],"constructing":[100],"spline,":[102],"towards":[103],"suppressing":[104],"distortions":[105],"that":[106],"normalization":[108],"operation":[109],"might":[110],"incur.":[111],"Experiments":[112],"on":[113],"anthropomorphic":[115],"robot":[116],"upper-body":[117],"carried":[119],"out":[120],"demonstrate":[122],"efficacy":[124],"real-time":[126],"compatibility":[127],"comparison":[133],"with":[134],"standard":[136],"spherical":[137],"interpolation":[138],"method.":[139]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
