{"id":"https://openalex.org/W3129864768","doi":"https://doi.org/10.1109/iros45743.2020.9340740","title":"Synchronous Minimum-Time Cooperative Manipulation using Distributed Model Predictive Control","display_name":"Synchronous Minimum-Time Cooperative Manipulation using Distributed Model Predictive Control","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3129864768","doi":"https://doi.org/10.1109/iros45743.2020.9340740","mag":"3129864768"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340740","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340740","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5072202994","display_name":"Argtim Tika","orcid":"https://orcid.org/0000-0003-3548-4191"},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Argtim Tika","raw_affiliation_strings":["Technische Universit\u00e4t Kaiserslautern,Department of Mechanical and Process Engineering,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t Kaiserslautern,Department of Mechanical and Process Engineering,Germany","institution_ids":["https://openalex.org/I153267046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076974853","display_name":"Naim Baj\u00e7inca","orcid":"https://orcid.org/0000-0002-1660-4859"},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Naim Bajcinca","raw_affiliation_strings":["Technische Universit\u00e4t Kaiserslautern,Department of Mechanical and Process Engineering,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t Kaiserslautern,Department of Mechanical and Process Engineering,Germany","institution_ids":["https://openalex.org/I153267046"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I153267046"],"apc_list":null,"apc_paid":null,"fwci":3.7063,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.9503019,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"4","issue":null,"first_page":"7675","last_page":"7681"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"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":0.9958999752998352,"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":0.9728999733924866,"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/computer-science","display_name":"Computer science","score":0.744329035282135},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6309829950332642},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6257959604263306},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5902082324028015},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.5790443420410156},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.48293396830558777},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4818897843360901},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.46283936500549316},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.42232316732406616},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4195367097854614},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.419198602437973},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35976362228393555},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3538160026073456},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25104203820228577},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.15214380621910095},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1137685775756836}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.744329035282135},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6309829950332642},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6257959604263306},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5902082324028015},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.5790443420410156},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.48293396830558777},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4818897843360901},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.46283936500549316},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.42232316732406616},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4195367097854614},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.419198602437973},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35976362228393555},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3538160026073456},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25104203820228577},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.15214380621910095},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1137685775756836},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9340740","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340740","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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":18,"referenced_works":["https://openalex.org/W152243833","https://openalex.org/W1496777766","https://openalex.org/W1624632261","https://openalex.org/W1661708671","https://openalex.org/W2099894755","https://openalex.org/W2104906962","https://openalex.org/W2115986224","https://openalex.org/W2123151947","https://openalex.org/W2216547738","https://openalex.org/W2330518642","https://openalex.org/W2590307769","https://openalex.org/W2972941110","https://openalex.org/W3098567417","https://openalex.org/W3099578266","https://openalex.org/W3155178413","https://openalex.org/W6677508446","https://openalex.org/W6785351666","https://openalex.org/W6794011293"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966","https://openalex.org/W2402852349"],"abstract_inverted_index":{"A":[0,26],"hierarchical":[1,55],"algorithm":[2,106],"involving":[3],"two-layer":[4],"optimization-based":[5],"control":[6,56,74],"policies":[7],"with":[8,28,112],"varying":[9],"degrees":[10],"of":[11,45,53,64,90,104],"abstraction":[12],"is":[13,39,107],"proposed,":[14],"including":[15],"upper":[16],"layer":[17,22,52],"task":[18],"scheduling":[19],"and":[20],"lower":[21],"local":[23],"path":[24],"planning.":[25],"scenario":[27],"two":[29],"robot":[30,67,100,114],"arms":[31],"performing":[32],"cooperative":[33],"pick-and-place":[34],"tasks":[35],"for":[36],"moving":[37],"objects":[38],"specifically":[40],"addressed.":[41],"The":[42,102],"main":[43],"focus":[44],"the":[46,50,54,61,65,87,91,98,105],"paper":[47],"lies":[48],"on":[49,60],"bottom":[51],"scheme,":[57],"more":[58],"precisely":[59],"online":[62],"generation":[63],"synchronous":[66],"trajectories":[68],"using":[69],"distributed":[70,93],"minimum-time":[71],"model":[72],"predictive":[73],"(DMPC)":[75],"algorithms.":[76],"To":[77],"this":[78],"end,":[79],"we":[80],"introduce":[81],"a":[82],"decelerating":[83],"coupling":[84],"term":[85],"in":[86],"cost":[88],"functions":[89],"individual":[92],"optimization":[94],"algorithms":[95],"to":[96],"synchronize":[97],"overall":[99],"motion.":[101],"performance":[103],"illustrated":[108],"by":[109],"extensive":[110],"simulations":[111],"high-fidelity":[113],"dynamic":[115],"models.":[116]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
