{"id":"https://openalex.org/W4416749711","doi":"https://doi.org/10.1109/iros60139.2025.11246597","title":"Optimization-Based Path-Velocity Control for Time-Optimal Path Tracking under Uncertainties","display_name":"Optimization-Based Path-Velocity Control for Time-Optimal Path Tracking under Uncertainties","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749711","doi":"https://doi.org/10.1109/iros60139.2025.11246597"},"language":"en","primary_location":{"id":"doi:10.1109/iros60139.2025.11246597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246597","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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://lup.lub.lu.se/search/files/235444650/Optimization_Based_Path_Velocity_Control_for_Time_Optimal_Path_Tracking_under_Uncertainties-14.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101749544","display_name":"Jia Zheng","orcid":"https://orcid.org/0000-0003-1669-1566"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Zheng Jia","raw_affiliation_strings":["Lund University,Department of Automatic Control,Sweden"],"affiliations":[{"raw_affiliation_string":"Lund University,Department of Automatic Control,Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066684950","display_name":"Yiannis Karayiannidis","orcid":"https://orcid.org/0000-0001-5129-342X"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yiannis Karayiannidis","raw_affiliation_strings":["Lund University,Department of Automatic Control,Sweden"],"affiliations":[{"raw_affiliation_string":"Lund University,Department of Automatic Control,Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056496417","display_name":"Bj\u00f6rn Olofsson","orcid":"https://orcid.org/0000-0003-1320-032X"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Bj\u00f6rn Olofsson","raw_affiliation_strings":["Lund University,Department of Automatic Control,Sweden"],"affiliations":[{"raw_affiliation_string":"Lund University,Department of Automatic Control,Sweden","institution_ids":["https://openalex.org/I187531555"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101749544"],"corresponding_institution_ids":["https://openalex.org/I187531555"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.45219629,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3773","last_page":"3779"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.14270000159740448,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.14270000159740448,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.08919999748468399,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.06069999933242798,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/trajectory","display_name":"Trajectory","score":0.6823999881744385},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.6761000156402588},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6251000165939331},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.5591999888420105},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5184000134468079},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4731000065803528},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.4422000050544739}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6823999881744385},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.6761000156402588},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6251000165939331},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.5591999888420105},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5184000134468079},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4968999922275543},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4731000065803528},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4551999866962433},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.4422000050544739},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3856000006198883},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35100001096725464},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.34119999408721924},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.3400999903678894},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.32019999623298645},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.30809998512268066},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2921000123023987},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.2872999906539917},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2745000123977661}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros60139.2025.11246597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246597","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:lup.lub.lu.se:55325fc2-317a-4b0e-ade0-94266672c833","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/55325fc2-317a-4b0e-ade0-94266672c833","pdf_url":"https://lup.lub.lu.se/search/files/235444650/Optimization_Based_Path_Velocity_Control_for_Time_Optimal_Path_Tracking_under_Uncertainties-14.pdf","source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:lup.lub.lu.se:55325fc2-317a-4b0e-ade0-94266672c833","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/55325fc2-317a-4b0e-ade0-94266672c833","pdf_url":"https://lup.lub.lu.se/search/files/235444650/Optimization_Based_Path_Velocity_Control_for_Time_Optimal_Path_Tracking_under_Uncertainties-14.pdf","source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4416749711.pdf","grobid_xml":"https://content.openalex.org/works/W4416749711.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1724370735","https://openalex.org/W1771182989","https://openalex.org/W1970412155","https://openalex.org/W1980701644","https://openalex.org/W2026733661","https://openalex.org/W2084480344","https://openalex.org/W2091197916","https://openalex.org/W2099454002","https://openalex.org/W2099736666","https://openalex.org/W2115091574","https://openalex.org/W2117402460","https://openalex.org/W2128856036","https://openalex.org/W2139208043","https://openalex.org/W2143804149","https://openalex.org/W2151301943","https://openalex.org/W2154112977","https://openalex.org/W2155053955","https://openalex.org/W2156708479","https://openalex.org/W2171028496","https://openalex.org/W2626897017","https://openalex.org/W2914267398","https://openalex.org/W2964057747","https://openalex.org/W2964222556","https://openalex.org/W2990205712","https://openalex.org/W4240172577","https://openalex.org/W4285102292"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,31,49,62,71,76],"path-tracking":[4,83],"problem":[5],"of":[6,39,51],"time-optimal":[7],"trajectories":[8],"under":[9],"model":[10,59],"uncertainties,":[11],"by":[12],"proposing":[13],"a":[14,24,40],"real-time":[15],"predictive":[16],"scaling":[17,73],"algorithm.":[18],"The":[19,42],"algorithm":[20,74],"is":[21,45],"formulated":[22],"as":[23],"convex":[25],"optimization":[26],"problem,":[27],"designed":[28],"to":[29,58,86],"balance":[30],"trade-off":[32],"between":[33],"improving":[34],"feasibility":[35],"and":[36,67],"time":[37],"optimality":[38],"trajectory.":[41],"predicted":[43],"trajectory":[44],"scaled":[46],"based":[47],"on":[48],"presence":[50],"path":[52,77],"segments":[53],"that":[54,70],"are":[55],"particularly":[56],"sensitive":[57],"uncertainties":[60],"within":[61],"prediction":[63],"horizon.":[64],"Numerical":[65],"simulations":[66],"experiments":[68],"demonstrate":[69],"proposed":[72],"reduces":[75],"traversal":[78],"time,":[79],"while":[80],"preserving":[81],"similar":[82],"accuracy":[84],"compared":[85],"an":[87],"existing":[88],"non-predictive":[89],"method.":[90]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-11-28T00:00:00"}
