{"id":"https://openalex.org/W3041104588","doi":"https://doi.org/10.1109/lra.2020.3007435","title":"Minimum Time\u2014Minimum Jerk Optimal Traffic Management for AGVs","display_name":"Minimum Time\u2014Minimum Jerk Optimal Traffic Management for AGVs","publication_year":2020,"publication_date":"2020-07-07","ids":{"openalex":"https://openalex.org/W3041104588","doi":"https://doi.org/10.1109/lra.2020.3007435","mag":"3041104588"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3007435","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3007435","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.1109/LRA.2020.3007435","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080554397","display_name":"Marco Frego","orcid":null},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Marco Frego","raw_affiliation_strings":["Department of Industrial Engineering, University of Trento, Trento, Italy","Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","[Department of Information Engineering and Computer Science, University of Trento, Trento, Italy, Department of Industrial Engineering, University of Trento, Trento, Italy]"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]},{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]},{"raw_affiliation_string":"[Department of Information Engineering and Computer Science, University of Trento, Trento, Italy, Department of Industrial Engineering, University of Trento, Trento, Italy]","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000093663","display_name":"Paolo Bevilacqua","orcid":"https://orcid.org/0000-0003-0695-481X"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Bevilacqua","raw_affiliation_strings":["Department of Information Engineering and Computer Science, University of Trento, Trento, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069319288","display_name":"Stefano Divan","orcid":"https://orcid.org/0000-0002-8781-1011"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Divan","raw_affiliation_strings":["Department of Information Engineering and Computer Science, University of Trento, Trento, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048878156","display_name":"Fabiano Zenatti","orcid":null},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabiano Zenatti","raw_affiliation_strings":["Department of Information Engineering and Computer Science, University of Trento, Trento, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006224560","display_name":"Luigi Palopoli","orcid":"https://orcid.org/0000-0001-8813-8685"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Palopoli","raw_affiliation_strings":["Department of Information Engineering and Computer Science, University of Trento, Trento, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039742246","display_name":"Francesco Biral","orcid":"https://orcid.org/0000-0001-8098-7965"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Biral","raw_affiliation_strings":["Department of Industrial Engineering, University of Trento, Trento, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045097296","display_name":"Daniele Fontanelli","orcid":"https://orcid.org/0000-0002-5486-9989"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Fontanelli","raw_affiliation_strings":["Department of Industrial Engineering, University of Trento, Trento, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5080554397"],"corresponding_institution_ids":["https://openalex.org/I193223587"],"apc_list":null,"apc_paid":null,"fwci":1.0388,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.76311981,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"5","issue":"4","first_page":"5307","last_page":"5314"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","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/T10524","display_name":"Traffic control and management","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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.9984999895095825,"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/jerk","display_name":"Jerk","score":0.940744161605835},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.717327356338501},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5797945261001587},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5779099464416504},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5595831274986267},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.5349575281143188},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5166133046150208},{"id":"https://openalex.org/keywords/piecewise-linear-function","display_name":"Piecewise linear function","score":0.4316604733467102},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4290018081665039},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.41684022545814514},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34530919790267944},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3130861818790436},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.14974218606948853},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09880894422531128},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0861378014087677}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.940744161605835},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.717327356338501},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5797945261001587},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5779099464416504},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5595831274986267},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.5349575281143188},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5166133046150208},{"id":"https://openalex.org/C17095337","wikidata":"https://www.wikidata.org/wiki/Q2375229","display_name":"Piecewise linear function","level":2,"score":0.4316604733467102},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4290018081665039},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.41684022545814514},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34530919790267944},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3130861818790436},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.14974218606948853},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09880894422531128},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0861378014087677},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/lra.2020.3007435","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3007435","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:iris.unitn.it:11572/279811","is_oa":false,"landing_page_url":"http://hdl.handle.net/11572/279811","pdf_url":null,"source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"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/article"},{"id":"pmh:oai:unibz.it:11338608710001241","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2020.3007435","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"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":"Article"}],"best_oa_location":{"id":"pmh:oai:unibz.it:11338608710001241","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2020.3007435","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"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":"Article"},"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W66095982","https://openalex.org/W1514685314","https://openalex.org/W1541707492","https://openalex.org/W1766210857","https://openalex.org/W1976541507","https://openalex.org/W1991425199","https://openalex.org/W1999550999","https://openalex.org/W2029870695","https://openalex.org/W2035144082","https://openalex.org/W2056549180","https://openalex.org/W2088363568","https://openalex.org/W2104179789","https://openalex.org/W2140018923","https://openalex.org/W2155313135","https://openalex.org/W2202006879","https://openalex.org/W2752444998","https://openalex.org/W2770011008","https://openalex.org/W2785627277","https://openalex.org/W2795890315","https://openalex.org/W2800914593","https://openalex.org/W2942467299","https://openalex.org/W2964035402","https://openalex.org/W7014672049","https://openalex.org/W7017958053"],"related_works":["https://openalex.org/W2070938475","https://openalex.org/W2128624581","https://openalex.org/W2350426160","https://openalex.org/W2350279905","https://openalex.org/W2093595318","https://openalex.org/W2161116097","https://openalex.org/W1978794229","https://openalex.org/W1964039342","https://openalex.org/W2280481767","https://openalex.org/W2187814049"],"abstract_inverted_index":{"A":[0],"combined":[1],"minimum":[2,5,32,50],"time":[3,33],"-":[4],"jerk":[6,51,140],"traffic":[7],"management":[8],"system":[9],"for":[10,53,102,116],"the":[11,28,39,54,66,69,85,118,139,143,149,153,158],"vehicle":[12],"coordination":[13],"in":[14,24,27,38,57],"an":[15],"automated":[16],"warehouse":[17],"is":[18,22,36,45,110],"presented.":[19],"The":[20,105,125],"algorithm":[21],"organised":[23],"two":[25],"steps:":[26],"first,":[29],"a":[30,48,74,90,94,111],"simple":[31],"optimisation":[34],"problem":[35],"solved,":[37],"second":[40,126],"step,":[41,71],"this":[42,108],"time-optimal":[43],"solution":[44,87,150],"refined":[46],"into":[47],"smooth":[49],"plan":[52],"autonomous":[55],"forklifts":[56],"order":[58],"to":[59,84],"avoid":[60],"impulsive":[61],"forces":[62],"that":[63,121],"may":[64],"unbalance":[65],"vehicle.":[67],"For":[68],"first":[70,154],"we":[72],"propose":[73],"novel":[75],"approach":[76],"based":[77],"on":[78],"Linear":[79],"Programming,":[80],"which":[81,98,137],"guarantees":[82],"convergence":[83],"optimal":[86],"starting":[88],"from":[89],"feasible":[91],"point,":[92],"and":[93,132,163],"low":[95],"computational":[96],"overhead,":[97],"makes":[99],"it":[100],"suitable":[101],"real-time":[103],"applications.":[104],"output":[106],"of":[107,146,148],"step":[109,127],"piecewise":[112],"constant":[113],"velocity":[114],"profile":[115,131],"all":[117],"moving":[119],"robots":[120],"ensures":[122],"collision":[123],"avoidance.":[124],"takes":[128],"such":[129],"speed":[130],"generates":[133],"its":[134],"smoothed":[135],"version,":[136],"minimises":[138],"while":[141],"respecting":[142],"same":[144],"levels":[145],"safety":[147],"generated":[151],"by":[152],"step.":[155],"We":[156],"discuss":[157],"different":[159],"solutions":[160],"with":[161],"simulation":[162],"experimental":[164],"data.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}