{"id":"https://openalex.org/W4392930011","doi":"https://doi.org/10.1109/lcsys.2024.3409109","title":"Fast Generation of Feasible Trajectories in Direct Optimal Control","display_name":"Fast Generation of Feasible Trajectories in Direct Optimal Control","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4392930011","doi":"https://doi.org/10.1109/lcsys.2024.3409109"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2024.3409109","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2024.3409109","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2403.10115","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102938251","display_name":"David Kiessling","orcid":"https://orcid.org/0000-0003-2344-1821"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"David Kiessling","raw_affiliation_strings":["Department of Mechanical Engineering, KU Leuven, Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012277347","display_name":"Katrin Baumg\u00e4rtner","orcid":"https://orcid.org/0009-0004-0485-8386"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Katrin Baumg\u00e4rtner","raw_affiliation_strings":["Department of Microsystems Engineering, University of Freiburg, Freiburg im Breisgau, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Microsystems Engineering, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007315476","display_name":"Jonathan Frey","orcid":"https://orcid.org/0000-0003-2771-4209"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jonathan Frey","raw_affiliation_strings":["Department of Microsystems Engineering, University of Freiburg, Freiburg im Breisgau, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Microsystems Engineering, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009275320","display_name":"Wilm Decr\u00e9","orcid":"https://orcid.org/0000-0002-9724-8103"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Wilm Decr\u00e9","raw_affiliation_strings":["Department of Mechanical Engineering, KU Leuven, Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021674650","display_name":"Jan Swevers","orcid":"https://orcid.org/0000-0003-2034-5519"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Jan Swevers","raw_affiliation_strings":["Department of Mechanical Engineering, KU Leuven, Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057375078","display_name":"Moritz Diehl","orcid":"https://orcid.org/0000-0001-6556-8252"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Moritz Diehl","raw_affiliation_strings":["Department of Microsystems Engineering and the Department of Mathematics, University of Freiburg, Freiburg im Breisgau, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Microsystems Engineering and the Department of Mathematics, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5102938251"],"corresponding_institution_ids":["https://openalex.org/I99464096"],"apc_list":null,"apc_paid":null,"fwci":0.6701,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.66398287,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"8","issue":null,"first_page":"1168","last_page":"1173"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9699000120162964,"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":0.9699000120162964,"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":0.95169997215271,"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/T12709","display_name":"Optimization and Mathematical Programming","score":0.9186000227928162,"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/mathematical-optimization","display_name":"Mathematical optimization","score":0.7059406638145447},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.687146782875061},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.6599181294441223},{"id":"https://openalex.org/keywords/line-search","display_name":"Line search","score":0.6399837136268616},{"id":"https://openalex.org/keywords/differential-dynamic-programming","display_name":"Differential dynamic programming","score":0.5853532552719116},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5231386423110962},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5096909999847412},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.464091956615448},{"id":"https://openalex.org/keywords/direct-methods","display_name":"Direct methods","score":0.45758262276649475},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.4301660656929016},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42823994159698486},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.42080947756767273},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.371147096157074},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34332627058029175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.05780777335166931}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.7059406638145447},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.687146782875061},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.6599181294441223},{"id":"https://openalex.org/C85522705","wikidata":"https://www.wikidata.org/wiki/Q3278015","display_name":"Line search","level":3,"score":0.6399837136268616},{"id":"https://openalex.org/C92292787","wikidata":"https://www.wikidata.org/wiki/Q5275342","display_name":"Differential dynamic programming","level":3,"score":0.5853532552719116},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5231386423110962},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5096909999847412},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.464091956615448},{"id":"https://openalex.org/C2776544107","wikidata":"https://www.wikidata.org/wiki/Q5280367","display_name":"Direct methods","level":2,"score":0.45758262276649475},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.4301660656929016},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42823994159698486},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.42080947756767273},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.371147096157074},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34332627058029175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.05780777335166931},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.0},{"id":"https://openalex.org/C46141821","wikidata":"https://www.wikidata.org/wiki/Q209402","display_name":"Nuclear magnetic resonance","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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":3,"locations":[{"id":"doi:10.1109/lcsys.2024.3409109","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2024.3409109","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2403.10115","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.10115","pdf_url":"https://arxiv.org/pdf/2403.10115","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"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/744853","is_oa":false,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/744853","pdf_url":null,"source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Control Systems Letters, vol. 8, (1168-1173)","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2403.10115","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.10115","pdf_url":"https://arxiv.org/pdf/2403.10115","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":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4392930011.pdf"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W2004975435","https://openalex.org/W2041109651","https://openalex.org/W2048799772","https://openalex.org/W2055381865","https://openalex.org/W2088590012","https://openalex.org/W2107502531","https://openalex.org/W2123871098","https://openalex.org/W2149454052","https://openalex.org/W2158370675","https://openalex.org/W2506300571","https://openalex.org/W2569877296","https://openalex.org/W2842089854","https://openalex.org/W3003257820","https://openalex.org/W3024054958","https://openalex.org/W3081791272","https://openalex.org/W3155272911","https://openalex.org/W3207305612","https://openalex.org/W4385452112","https://openalex.org/W4388918940","https://openalex.org/W6616029402","https://openalex.org/W6670332232","https://openalex.org/W7065631163"],"related_works":["https://openalex.org/W4281717838","https://openalex.org/W4315488747","https://openalex.org/W2212478920","https://openalex.org/W2007971149","https://openalex.org/W3012421647","https://openalex.org/W2052479296","https://openalex.org/W1996983632","https://openalex.org/W761054003","https://openalex.org/W2061256745","https://openalex.org/W1986827546"],"abstract_inverted_index":{"This":[0],"paper":[1],"examines":[2],"the":[3,39,51],"question":[4],"of":[5,17,70,82],"finding":[6,18],"feasible":[7,20],"points":[8],"to":[9,24,50,88],"discrete-time":[10],"optimal":[11,27],"control":[12,28],"problems.":[13],"The":[14],"optimization":[15],"problem":[16,41],"a":[19,68,71],"trajectory":[21],"is":[22,35,86],"transcribed":[23],"an":[25,75],"unconstrained":[26],"problem.":[29],"An":[30,79],"efficient":[31,80],"algorithm,":[32],"called":[33],"FP-DDP,":[34],"proposed":[36],"that":[37],"solves":[38],"resulting":[40],"using":[42],"Differential":[43],"Dynamic":[44],"Programming":[45],"preserving":[46],"feasibility":[47],"with":[48],"respect":[49],"system":[52],"dynamics":[53],"in":[54],"every":[55],"iteration.":[56],"Notably,":[57],"FP-DDP":[58,83],"admits":[59],"global":[60],"and":[61,74,99],"rapid":[62],"local":[63],"convergence":[64],"properties":[65],"induced":[66],"by":[67],"combination":[69],"Levenberg-Marquardt":[72],"method":[73],"Armijo-type":[76],"line":[77],"search.":[78],"implementation":[81],"within":[84],"acados":[85],"compared":[87],"established":[89],"methods":[90],"such":[91],"as":[92],"Direct":[93,96],"Multiple":[94],"Shooting,":[95,98],"Single":[97],"state-of-the-art":[100],"solvers.":[101]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
