{"id":"https://openalex.org/W4312850123","doi":"https://doi.org/10.1109/iros47612.2022.9982166","title":"Linear MPC-based Motion Planning for Autonomous Surgery","display_name":"Linear MPC-based Motion Planning for Autonomous Surgery","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312850123","doi":"https://doi.org/10.1109/iros47612.2022.9982166"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982166","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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":"https://hdl.handle.net/11380/1361167","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021445757","display_name":"Marco Minelli","orcid":"https://orcid.org/0000-0003-3366-309X"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Marco Minelli","raw_affiliation_strings":["University of Modena and Reggio,Dept. of Sciences and Methods of Engineering,Emilia,Italy","Dept. of Sciences and Methods of Engineering, University of Modena and Reggio, Emilia, Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio,Dept. of Sciences and Methods of Engineering,Emilia,Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"Dept. of Sciences and Methods of Engineering, University of Modena and Reggio, Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085602187","display_name":"Alessio Sozzi","orcid":"https://orcid.org/0000-0002-5971-1363"},"institutions":[{"id":"https://openalex.org/I201324441","display_name":"University of Ferrara","ror":"https://ror.org/041zkgm14","country_code":"IT","type":"education","lineage":["https://openalex.org/I201324441"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessio Sozzi","raw_affiliation_strings":["University of Ferrara,Dept. of Engineering,Italy","Dept. of Engineering, University of Ferrara, Italy"],"affiliations":[{"raw_affiliation_string":"University of Ferrara,Dept. of Engineering,Italy","institution_ids":["https://openalex.org/I201324441"]},{"raw_affiliation_string":"Dept. of Engineering, University of Ferrara, Italy","institution_ids":["https://openalex.org/I201324441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020987288","display_name":"Giacomo De Rossi","orcid":"https://orcid.org/0000-0002-2505-3809"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giacomo De Rossi","raw_affiliation_strings":["University of Verona,Dept. of Computer Science,Italy","Dept. of Computer Science, University of Verona, Italy"],"affiliations":[{"raw_affiliation_string":"University of Verona,Dept. of Computer Science,Italy","institution_ids":["https://openalex.org/I119439378"]},{"raw_affiliation_string":"Dept. of Computer Science, University of Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023679578","display_name":"Federica Ferraguti","orcid":"https://orcid.org/0000-0002-4989-1567"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Federica Ferraguti","raw_affiliation_strings":["University of Modena and Reggio,Dept. of Sciences and Methods of Engineering,Emilia,Italy","Dept. of Sciences and Methods of Engineering, University of Modena and Reggio, Emilia, Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio,Dept. of Sciences and Methods of Engineering,Emilia,Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"Dept. of Sciences and Methods of Engineering, University of Modena and Reggio, Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090081010","display_name":"Saverio Farsoni","orcid":"https://orcid.org/0000-0003-3480-1351"},"institutions":[{"id":"https://openalex.org/I201324441","display_name":"University of Ferrara","ror":"https://ror.org/041zkgm14","country_code":"IT","type":"education","lineage":["https://openalex.org/I201324441"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Saverio Farsoni","raw_affiliation_strings":["University of Ferrara,Dept. of Engineering,Italy","Dept. of Engineering, University of Ferrara, Italy"],"affiliations":[{"raw_affiliation_string":"University of Ferrara,Dept. of Engineering,Italy","institution_ids":["https://openalex.org/I201324441"]},{"raw_affiliation_string":"Dept. of Engineering, University of Ferrara, Italy","institution_ids":["https://openalex.org/I201324441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001003105","display_name":"Francesco Setti","orcid":"https://orcid.org/0000-0002-0015-5534"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Setti","raw_affiliation_strings":["University of Verona,Dept. of Computer Science,Italy","Dept. of Computer Science, University of Verona, Italy"],"affiliations":[{"raw_affiliation_string":"University of Verona,Dept. of Computer Science,Italy","institution_ids":["https://openalex.org/I119439378"]},{"raw_affiliation_string":"Dept. of Computer Science, University of Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001597507","display_name":"Riccardo Muradore","orcid":"https://orcid.org/0000-0002-0287-6896"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Riccardo Muradore","raw_affiliation_strings":["University of Verona,Dept. of Computer Science,Italy","Dept. of Computer Science, University of Verona, Italy"],"affiliations":[{"raw_affiliation_string":"University of Verona,Dept. of Computer Science,Italy","institution_ids":["https://openalex.org/I119439378"]},{"raw_affiliation_string":"Dept. of Computer Science, University of Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049538665","display_name":"Marcello Bonf\u00e8","orcid":"https://orcid.org/0000-0002-6065-9769"},"institutions":[{"id":"https://openalex.org/I201324441","display_name":"University of Ferrara","ror":"https://ror.org/041zkgm14","country_code":"IT","type":"education","lineage":["https://openalex.org/I201324441"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marcello Bonf\u00e8","raw_affiliation_strings":["University of Ferrara,Dept. of Engineering,Italy","Dept. of Engineering, University of Ferrara, Italy"],"affiliations":[{"raw_affiliation_string":"University of Ferrara,Dept. of Engineering,Italy","institution_ids":["https://openalex.org/I201324441"]},{"raw_affiliation_string":"Dept. of Engineering, University of Ferrara, Italy","institution_ids":["https://openalex.org/I201324441"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032100434","display_name":"Cristian Secchi","orcid":"https://orcid.org/0000-0002-2098-0099"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cristian Secchi","raw_affiliation_strings":["University of Modena and Reggio,Dept. of Sciences and Methods of Engineering,Emilia,Italy","Dept. of Sciences and Methods of Engineering, University of Modena and Reggio, Emilia, Italy"],"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio,Dept. of Sciences and Methods of Engineering,Emilia,Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"Dept. of Sciences and Methods of Engineering, University of Modena and Reggio, Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5021445757"],"corresponding_institution_ids":["https://openalex.org/I122346577"],"apc_list":null,"apc_paid":null,"fwci":0.6426,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.65577211,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"5699","last_page":"5706"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9947999715805054,"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":0.9861999750137329,"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/model-predictive-control","display_name":"Model predictive control","score":0.7603275775909424},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6966689825057983},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6806578636169434},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5928360223770142},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5921130180358887},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48561587929725647},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4213620722293854},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.4150567650794983},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38758620619773865},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3266998827457428},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2599562406539917},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21202102303504944},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15832731127738953}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7603275775909424},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6966689825057983},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6806578636169434},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5928360223770142},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5921130180358887},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48561587929725647},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4213620722293854},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.4150567650794983},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38758620619773865},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3266998827457428},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2599562406539917},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21202102303504944},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15832731127738953},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros47612.2022.9982166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982166","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unimore.it:11380/1361167","is_oa":true,"landing_page_url":"https://hdl.handle.net/11380/1361167","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:sfera.unife.it:11392/2553370","is_oa":false,"landing_page_url":"https://hdl.handle.net/11392/2553370","pdf_url":null,"source":{"id":"https://openalex.org/S4306400369","display_name":"Institutional Research Information System University of Ferrara (University of Ferrara)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201324441","host_organization_name":"University of Ferrara","host_organization_lineage":["https://openalex.org/I201324441"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:iris.unimore.it:11380/1361167","is_oa":true,"landing_page_url":"https://hdl.handle.net/11380/1361167","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1975103987","https://openalex.org/W2000384453","https://openalex.org/W2007164115","https://openalex.org/W2011393930","https://openalex.org/W2025468671","https://openalex.org/W2030742234","https://openalex.org/W2098701449","https://openalex.org/W2167704130","https://openalex.org/W2296039882","https://openalex.org/W2513058035","https://openalex.org/W2944586531","https://openalex.org/W2956100828","https://openalex.org/W2968889775","https://openalex.org/W3018383179","https://openalex.org/W3127265496","https://openalex.org/W3130825927","https://openalex.org/W3165641326","https://openalex.org/W3198822284"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W2060165215","https://openalex.org/W2384015130","https://openalex.org/W4285595274","https://openalex.org/W81137451","https://openalex.org/W2094121346"],"abstract_inverted_index":{"Within":[0],"the":[1,19,40,52,58,63,72],"context":[2],"of":[3,21,35,75],"Robotic":[4],"Minimally":[5],"Invasive":[6],"Surgery":[7],"(R-MIS),":[8],"we":[9],"propose":[10],"a":[11,32,76,89],"novel":[12],"linear":[13,33],"model":[14],"predictive":[15],"controller":[16,27,41],"formulation":[17],"for":[18,62],"coordination":[20],"multiple":[22,81],"autonomous":[23],"robotic":[24],"arms.":[25],"The":[26,67],"is":[28,69],"synthesized":[29],"by":[30],"formulating":[31],"approximation":[34],"non-linear":[36],"constraints,":[37],"which":[38,80],"allows":[39],"to":[42,51],"be":[43],"both":[44],"computationally":[45],"faster":[46],"and":[47,86],"better":[48],"performing":[49],"due":[50],"increased":[53],"prediction":[54],"horizon":[55],"allowed":[56],"within":[57],"real-time":[59],"control":[60],"requirements":[61],"proposed":[64],"surgical":[65,77],"application.":[66],"solution":[68],"validated":[70],"under":[71],"expected":[73],"constraints":[74],"scenario":[78],"in":[79,88],"laparoscopic":[82],"tools":[83],"must":[84],"move":[85],"coordinate":[87],"shared":[90],"environment.":[91]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
