{"id":"https://openalex.org/W3003849070","doi":"https://doi.org/10.1109/iros40897.2019.8968240","title":"Timed-Elastic Smooth Curve Optimization for Mobile-Base Motion Planning","display_name":"Timed-Elastic Smooth Curve Optimization for Mobile-Base Motion Planning","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003849070","doi":"https://doi.org/10.1109/iros40897.2019.8968240","mag":"3003849070"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968240","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2117/183480","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022094347","display_name":"J\u00e9r\u00e9mie Deray","orcid":"https://orcid.org/0000-0001-5279-8251"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J\u00e9r\u00e9mie Deray","raw_affiliation_strings":["Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial,CSIC-UPC,Barcelona,Catalonia","CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Catalonia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial,CSIC-UPC,Barcelona,Catalonia","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]},{"raw_affiliation_string":"CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Catalonia","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027195431","display_name":"Bence Magyar","orcid":"https://orcid.org/0000-0001-8455-8674"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]},{"id":"https://openalex.org/I4210085930","display_name":"Heriot-Watt University Malaysia","ror":"https://ror.org/0059w0420","country_code":"MY","type":"education","lineage":["https://openalex.org/I4210085930"]}],"countries":["GB","MY"],"is_corresponding":false,"raw_author_name":"Bence Magyar","raw_affiliation_strings":["Heriot-Watt University,Edinburgh Centre for Robotics,Scotland","Edinburgh Centre for Robotics, Heriot-Watt University, Scotland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Heriot-Watt University,Edinburgh Centre for Robotics,Scotland","institution_ids":["https://openalex.org/I32062511","https://openalex.org/I4210085930"]},{"raw_affiliation_string":"Edinburgh Centre for Robotics, Heriot-Watt University, Scotland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088761477","display_name":"Joan Sol\u00e0","orcid":"https://orcid.org/0000-0002-2933-3381"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Joan Sol\u00e0","raw_affiliation_strings":["Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial,CSIC-UPC,Barcelona,Catalonia","CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Catalonia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial,CSIC-UPC,Barcelona,Catalonia","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]},{"raw_affiliation_string":"CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Catalonia","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039307249","display_name":"Juan Andrade\u2010Cetto","orcid":"https://orcid.org/0000-0002-6354-8941"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan Andrade-Cetto","raw_affiliation_strings":["Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial,CSIC-UPC,Barcelona,Catalonia","CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Catalonia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial,CSIC-UPC,Barcelona,Catalonia","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]},{"raw_affiliation_string":"CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Catalonia","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6101,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.73700537,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3143","last_page":"3149"},"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":0.9957000017166138,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9955000281333923,"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/jerk","display_name":"Jerk","score":0.8084286451339722},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6221921443939209},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5523501038551331},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.4856785535812378},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4763253629207611},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44001004099845886},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4123498797416687},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4047647714614868},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3972823917865753},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2653807997703552},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.259230375289917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23931029438972473},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14055362343788147},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09910500049591064}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.8084286451339722},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6221921443939209},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5523501038551331},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.4856785535812378},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4763253629207611},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44001004099845886},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4123498797416687},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4047647714614868},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3972823917865753},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2653807997703552},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.259230375289917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23931029438972473},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14055362343788147},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09910500049591064},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros40897.2019.8968240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968240","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:digital.csic.es:10261/206887","is_oa":false,"landing_page_url":"http://hdl.handle.net/10261/206887","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"comunicaci\u00f3n de congreso"},{"id":"pmh:oai:upcommons.upc.edu:2117/183480","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/183480","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference report"}],"best_oa_location":{"id":"pmh:oai:upcommons.upc.edu:2117/183480","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/183480","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference report"},"sustainable_development_goals":[{"score":0.6000000238418579,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1144816308","https://openalex.org/W1518641734","https://openalex.org/W1955305638","https://openalex.org/W1970439956","https://openalex.org/W2000359213","https://openalex.org/W2019321876","https://openalex.org/W2062573767","https://openalex.org/W2076123236","https://openalex.org/W2094862909","https://openalex.org/W2104332709","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2151394936","https://openalex.org/W2152536965","https://openalex.org/W2162991084","https://openalex.org/W2177274602","https://openalex.org/W2341409470","https://openalex.org/W2482392012","https://openalex.org/W2564322318","https://openalex.org/W2587415290","https://openalex.org/W2753710570","https://openalex.org/W2774451424","https://openalex.org/W2775416623","https://openalex.org/W2901136733","https://openalex.org/W2902093375","https://openalex.org/W4255045719","https://openalex.org/W6655266199","https://openalex.org/W6681136635","https://openalex.org/W6744421545","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2497204748","https://openalex.org/W2039317814","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"the":[3,30,36,79,93,104],"use":[4],"of":[5,117],"piecewise":[6],"C":[7],"<sup":[8],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[9],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">n</sup>":[10],"smooth":[11],"curve":[12],"for":[13],"mobile-base":[14],"motion":[15],"planning":[16,74],"and":[17,68,71,111,120],"control,":[18],"coined":[19],"Timed-Elastic":[20,28],"Smooth":[21],"Curve":[22],"(TESC)":[23],"planner.":[24],"Based":[25],"on":[26,39],"a":[27,40,53],"Band,":[29],"problem":[31],"is":[32,76,90],"defined":[33],"so":[34],"that":[35,100],"trajectory":[37],"lies":[38],"spline":[41],"in":[42,83,95,115],"SE(2)":[43],"with":[44,126],"non-vanishing":[45],"n-th":[46],"derivatives":[47],"at":[48],"every":[49],"point.":[50],"Formulated":[51],"as":[52,64],"multi-objective":[54],"nonlinear":[55],"optimization":[56],"problem,":[57],"it":[58],"allows":[59],"imposing":[60],"soft":[61],"constraints":[62],"such":[63],"collision-avoidance,":[65],"velocity,":[66],"acceleration":[67,110],"jerk":[69],"limits,":[70],"more.":[72],"The":[73,87],"process":[75],"realtime-capable":[77],"allowing":[78],"robot":[80],"to":[81],"navigate":[82],"dynamic":[84],"complex":[85],"scenarios.":[86,97],"proposed":[88],"method":[89],"compared":[91],"against":[92],"state-of-the-art":[94,130],"various":[96],"Results":[98],"show":[99],"trajectories":[101],"generated":[102],"by":[103],"TESC":[105],"planner":[106],"have":[107],"smaller":[108],"average":[109],"are":[112],"more":[113,127],"efficient":[114],"terms":[116],"total":[118],"curvature":[119],"pseudo-kinetic":[121],"energy":[122],"while":[123],"being":[124],"produced":[125],"consistency":[128],"than":[129],"planners":[131],"do.":[132]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2020-02-07T00:00:00"}
