{"id":"https://openalex.org/W3178119935","doi":"https://doi.org/10.1109/iros51168.2021.9635965","title":"Real-Time Motion Planning of a Hydraulic Excavator using Trajectory Optimization and Model Predictive Control","display_name":"Real-Time Motion Planning of a Hydraulic Excavator using Trajectory Optimization and Model Predictive Control","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3178119935","doi":"https://doi.org/10.1109/iros51168.2021.9635965","mag":"3178119935"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635965","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 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/A5101807818","display_name":"Dongjae Lee","orcid":"https://orcid.org/0000-0002-4068-7340"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongjae Lee","raw_affiliation_strings":["Automation and Systems Research Institute (ASRI), Seoul National University (SNU), Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Systems Research Institute (ASRI), Seoul National University (SNU), Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006359565","display_name":"Inkyu Jang","orcid":"https://orcid.org/0000-0002-5107-446X"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Inkyu Jang","raw_affiliation_strings":["Automation and Systems Research Institute (ASRI), Seoul National University (SNU), Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Systems Research Institute (ASRI), Seoul National University (SNU), Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050201316","display_name":"Jeonghyun Byun","orcid":"https://orcid.org/0000-0001-7937-8564"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeonghyun Byun","raw_affiliation_strings":["Automation and Systems Research Institute (ASRI), Seoul National University (SNU), Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Systems Research Institute (ASRI), Seoul National University (SNU), Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103058532","display_name":"Hoseong Seo","orcid":"https://orcid.org/0000-0002-1485-3712"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hoseong Seo","raw_affiliation_strings":["Automation and Systems Research Institute (ASRI), Seoul National University (SNU), Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Systems Research Institute (ASRI), Seoul National University (SNU), Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073996122","display_name":"H. Jin Kim","orcid":"https://orcid.org/0000-0002-6819-1136"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"H. Jin Kim","raw_affiliation_strings":["Automation and Systems Research Institute (ASRI), Seoul National University (SNU), Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Systems Research Institute (ASRI), Seoul National University (SNU), Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":12.6686,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.99470799,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2135","last_page":"2142"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9957000017166138,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9659000039100647,"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/excavator","display_name":"Excavator","score":0.9784629344940186},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8355190753936768},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5940732359886169},{"id":"https://openalex.org/keywords/hydraulic-cylinder","display_name":"Hydraulic cylinder","score":0.5667945146560669},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5174608826637268},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.45601916313171387},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3849794268608093},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3678593635559082},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18452027440071106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17147698998451233}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.9784629344940186},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8355190753936768},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5940732359886169},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.5667945146560669},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5174608826637268},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.45601916313171387},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3849794268608093},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3678593635559082},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18452027440071106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17147698998451233},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9635965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635965","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1838702372","https://openalex.org/W1978956894","https://openalex.org/W1989745097","https://openalex.org/W1991929271","https://openalex.org/W2022310661","https://openalex.org/W2044720192","https://openalex.org/W2061611589","https://openalex.org/W2619566615","https://openalex.org/W2728742905","https://openalex.org/W2762555062","https://openalex.org/W2762878490","https://openalex.org/W2774021736","https://openalex.org/W2914310289","https://openalex.org/W2952691404","https://openalex.org/W3000119253","https://openalex.org/W3003188160","https://openalex.org/W3003906237","https://openalex.org/W3004068580","https://openalex.org/W3004099965","https://openalex.org/W3005783773","https://openalex.org/W3015872276","https://openalex.org/W3016672273","https://openalex.org/W3030727331","https://openalex.org/W3089968696","https://openalex.org/W3090705381","https://openalex.org/W3103075896","https://openalex.org/W3117141553","https://openalex.org/W3127831513","https://openalex.org/W3132694240","https://openalex.org/W6778350817","https://openalex.org/W6787753503"],"related_works":["https://openalex.org/W2324465777","https://openalex.org/W2384763423","https://openalex.org/W1972450215","https://openalex.org/W2904060783","https://openalex.org/W3177989151","https://openalex.org/W4385832323","https://openalex.org/W3041683633","https://openalex.org/W2356996864","https://openalex.org/W4244391535","https://openalex.org/W2015393961"],"abstract_inverted_index":{"Automation":[0],"of":[1,30,39,98,105,127,145,160],"excavation":[2,60],"tasks":[3],"requires":[4],"real-time":[5,17,26,48,153],"trajectory":[6,18,28,58,72],"planning":[7,29,89,155],"satisfying":[8,78],"various":[9],"constraints.":[10],"To":[11,142],"guarantee":[12],"both":[13],"constraint":[14],"feasibility":[15],"and":[16,46,62,83,111,115,170],"re-plannability,":[19],"we":[20],"present":[21],"an":[22,125],"integrated":[23],"framework":[24,36,156],"for":[25],"optimization-based":[27],"a":[31,43,47,74,92,128,161],"hydraulic":[32,109,162],"excavator.":[33],"The":[34,51,118],"proposed":[35,88],"is":[37,131],"composed":[38],"two":[40,96],"main":[41],"modules:":[42],"global":[44,52,57,71,120],"planner":[45,53,136],"local":[49,67,135],"planner.":[50],"computes":[54],"the":[55,66,70,87,103,134,143,151],"entire":[56],"considering":[59],"volume":[61],"energy":[63],"minimization":[64],"while":[65],"counterpart":[68],"tracks":[69],"in":[73,91,102,124],"receding":[75],"horizon":[76],"manner,":[77],"dynamic":[79],"feasibility,":[80],"physical":[81],"constraints,":[82],"disturbance-awareness.":[84],"We":[85],"validate":[86],"algorithm":[90],"simulation":[93],"environment":[94],"where":[95],"types":[97],"operations":[99],"are":[100,122],"conducted":[101],"presence":[104],"emulated":[106],"disturbance":[107],"from":[108],"friction":[110],"soil-bucket":[112],"interaction:":[113],"shallow":[114],"deep":[116],"excavation.":[117],"optimized":[119],"trajectories":[121],"obtained":[123],"order":[126],"second,":[129],"which":[130],"tracked":[132],"by":[133],"at":[137],"faster":[138],"than":[139],"30":[140],"Hz.":[141],"best":[144],"our":[146],"knowledge,":[147],"this":[148],"work":[149],"presents":[150],"first":[152],"motion":[154],"that":[157],"satisfies":[158],"constraints":[159],"excavator,":[163],"such":[164],"as":[165],"force/torque,":[166],"power,":[167],"cylinder":[168],"displacement,":[169],"flow":[171],"rate":[172],"limits.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}