{"id":"https://openalex.org/W2964815113","doi":"https://doi.org/10.1109/iros40897.2019.8968441","title":"Fast Manipulability Maximization Using Continuous-Time Trajectory optimization","display_name":"Fast Manipulability Maximization Using Continuous-Time Trajectory optimization","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2964815113","doi":"https://doi.org/10.1109/iros40897.2019.8968441","mag":"2964815113"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968441","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968441","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":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1908.02963","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006734993","display_name":"Filip Mari\u0107","orcid":"https://orcid.org/0000-0002-4171-8006"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210140832","display_name":"Terrestrial Ecosystem Research Network","ror":"https://ror.org/03wxseg04","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210140832"]}],"countries":["AU","CA"],"is_corresponding":false,"raw_author_name":"Filip Mari\u0107","raw_affiliation_strings":["University of Toronto, Institute for Aerospace Studies,Space and Terrestrial Autonomous Robotic Systems Laboratory,Canada","Space and Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto, Institute for Aerospace Studies, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto, Institute for Aerospace Studies,Space and Terrestrial Autonomous Robotic Systems Laboratory,Canada","institution_ids":["https://openalex.org/I4210140832"]},{"raw_affiliation_string":"Space and Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto, Institute for Aerospace Studies, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082379912","display_name":"Oliver Limoyo","orcid":"https://orcid.org/0000-0001-6886-2633"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210140832","display_name":"Terrestrial Ecosystem Research Network","ror":"https://ror.org/03wxseg04","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210140832"]}],"countries":["AU","CA"],"is_corresponding":false,"raw_author_name":"Oliver Limoyo","raw_affiliation_strings":["University of Toronto, Institute for Aerospace Studies,Space and Terrestrial Autonomous Robotic Systems Laboratory,Canada","Space and Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto, Institute for Aerospace Studies, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto, Institute for Aerospace Studies,Space and Terrestrial Autonomous Robotic Systems Laboratory,Canada","institution_ids":["https://openalex.org/I4210140832"]},{"raw_affiliation_string":"Space and Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto, Institute for Aerospace Studies, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024825811","display_name":"Luka Petrovi\u0107","orcid":"https://orcid.org/0000-0002-6191-1145"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Luka Petrovi\u0107","raw_affiliation_strings":["University of Zagreb, Faculty of Elecmcal Engineenng and Computing,Laboratory for Autonomous Systems and Mobile Robotics,Croatia","Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Faculty of Elecmcal Engineenng and Computing, Croatia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Zagreb, Faculty of Elecmcal Engineenng and Computing,Laboratory for Autonomous Systems and Mobile Robotics,Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Faculty of Elecmcal Engineenng and Computing, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036575954","display_name":"Trevor Ablett","orcid":"https://orcid.org/0000-0001-5904-8402"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210140832","display_name":"Terrestrial Ecosystem Research Network","ror":"https://ror.org/03wxseg04","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210140832"]}],"countries":["AU","CA"],"is_corresponding":false,"raw_author_name":"Trevor Ablett","raw_affiliation_strings":["University of Toronto, Institute for Aerospace Studies,Space and Terrestrial Autonomous Robotic Systems Laboratory,Canada","Space and Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto, Institute for Aerospace Studies, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto, Institute for Aerospace Studies,Space and Terrestrial Autonomous Robotic Systems Laboratory,Canada","institution_ids":["https://openalex.org/I4210140832"]},{"raw_affiliation_string":"Space and Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto, Institute for Aerospace Studies, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001473761","display_name":"Ivan Petrovi\u0107","orcid":"https://orcid.org/0000-0001-9961-5627"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Ivan Petrovi\u0107","raw_affiliation_strings":["University of Zagreb, Faculty of Elecmcal Engineenng and Computing,Laboratory for Autonomous Systems and Mobile Robotics,Croatia","Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Faculty of Elecmcal Engineenng and Computing, Croatia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Zagreb, Faculty of Elecmcal Engineenng and Computing,Laboratory for Autonomous Systems and Mobile Robotics,Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Faculty of Elecmcal Engineenng and Computing, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001210516","display_name":"Jonathan Kelly","orcid":"https://orcid.org/0000-0002-5528-6136"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210140832","display_name":"Terrestrial Ecosystem Research Network","ror":"https://ror.org/03wxseg04","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210140832"]}],"countries":["AU","CA"],"is_corresponding":false,"raw_author_name":"Jonathan Kelly","raw_affiliation_strings":["University of Toronto, Institute for Aerospace Studies,Space and Terrestrial Autonomous Robotic Systems Laboratory,Canada","Space and Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto, Institute for Aerospace Studies, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Toronto, Institute for Aerospace Studies,Space and Terrestrial Autonomous Robotic Systems Laboratory,Canada","institution_ids":["https://openalex.org/I4210140832"]},{"raw_affiliation_string":"Space and Terrestrial Autonomous Robotic Systems Laboratory, University of Toronto, Institute for Aerospace Studies, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4781,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.82544488,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8258","last_page":"8264"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9988999962806702,"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":0.9988999962806702,"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/T10653","display_name":"Robot Manipulation and Learning","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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9896000027656555,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7183156609535217},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.6919059157371521},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.664980411529541},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6527201533317566},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5521350502967834},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4883391559123993},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4860139489173889},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.47566527128219604},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4250802993774414},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.41658663749694824},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.409811407327652},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.30790749192237854},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24654027819633484},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22100555896759033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19793257117271423},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13089177012443542}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7183156609535217},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.6919059157371521},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.664980411529541},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6527201533317566},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5521350502967834},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4883391559123993},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4860139489173889},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.47566527128219604},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4250802993774414},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.41658663749694824},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.409811407327652},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.30790749192237854},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24654027819633484},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22100555896759033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19793257117271423},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13089177012443542},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros40897.2019.8968441","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968441","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:arXiv.org:1908.02963","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.02963","pdf_url":"https://arxiv.org/pdf/1908.02963","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1908.02963","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.02963","pdf_url":"https://arxiv.org/pdf/1908.02963","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5699999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W61873113","https://openalex.org/W1502922572","https://openalex.org/W1616363572","https://openalex.org/W1944897634","https://openalex.org/W2019965290","https://openalex.org/W2024729519","https://openalex.org/W2036147179","https://openalex.org/W2049410986","https://openalex.org/W2072682804","https://openalex.org/W2099893201","https://openalex.org/W2112288088","https://openalex.org/W2113260111","https://openalex.org/W2166365633","https://openalex.org/W2205340216","https://openalex.org/W2290966563","https://openalex.org/W2293883387","https://openalex.org/W2295255295","https://openalex.org/W2323447981","https://openalex.org/W2577634205","https://openalex.org/W2591194352","https://openalex.org/W2736887377","https://openalex.org/W2773886472","https://openalex.org/W3102334304","https://openalex.org/W4211049957","https://openalex.org/W4302594344"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2003479292","https://openalex.org/W3135469233"],"abstract_inverted_index":{"A":[0],"significant":[1],"challenge":[2],"in":[3,11,94,115,159],"manipulation":[4],"motion":[5,41,92],"planning":[6,80],"is":[7,57],"to":[8,36,69,111,118],"ensure":[9],"agility":[10],"the":[12,22,32,51,64,75,99,120,127,134],"face":[13],"of":[14,27,77,84,129],"unpredictable":[15],"changes":[16],"during":[17,79,123],"task":[18],"execution.":[19],"This":[20],"requires":[21],"identification":[23],"and":[24,87,151],"possible":[25],"modification":[26],"suitable":[28],"joint-space":[29],"trajectories,":[30],"since":[31],"joint":[33,52,89],"velocities":[34],"required":[35],"achieve":[37],"a":[38,47,60,82,103,154],"specific":[39],"endeffector":[40],"vary":[42],"with":[43,140,153,165],"manipulator":[44,49,100,156],"configuration.":[45],"For":[46],"given":[48],"configuration,":[50],"space-to-task":[53,90],"space":[54,91],"velocity":[55],"mapping":[56],"characterized":[58],"by":[59],"quantity":[61],"known":[62],"as":[63,81,102],"manipulability":[65,78,121,142],"index.":[66],"In":[67],"contrast":[68],"previous":[70],"control-based":[71],"approaches,":[72],"we":[73,108],"examine":[74],"maximization":[76],"way":[83],"achieving":[85],"adaptable":[86],"safe":[88],"mappings":[93],"various":[95],"scenarios.":[96],"By":[97],"representing":[98],"trajectory":[101,116,124],"continuous-time":[104],"Gaussian":[105],"process":[106],"(GP),":[107],"are":[109],"able":[110],"leverage":[112],"recent":[113],"advances":[114],"optimization":[117],"maximize":[119],"index":[122],"generation.":[125],"Moreover,":[126],"sparsity":[128],"our":[130],"chosen":[131],"representation":[132],"reduces":[133],"typically":[135],"large":[136],"computational":[137],"cost":[138],"associated":[139],"maximizing":[141],"when":[143],"additional":[144],"constraints":[145],"exist.":[146],"Results":[147],"from":[148],"simulation":[149],"studies":[150],"experiments":[152],"real":[155],"demonstrate":[157],"increases":[158],"manipulability,":[160],"while":[161],"maintaining":[162],"smooth":[163],"trajectories":[164],"more":[166,170],"dexterous":[167],"(and":[168],"therefore":[169],"agile)":[171],"arm":[172],"configurations.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2019-08-13T00:00:00"}
