{"id":"https://openalex.org/W3043939574","doi":"https://doi.org/10.1109/lra.2020.3010751","title":"A Disturbance-Aware Trajectory Planning Scheme Based on Model Predictive Control","display_name":"A Disturbance-Aware Trajectory Planning Scheme Based on Model Predictive Control","publication_year":2020,"publication_date":"2020-07-21","ids":{"openalex":"https://openalex.org/W3043939574","doi":"https://doi.org/10.1109/lra.2020.3010751","mag":"3043939574"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3010751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010751","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016748432","display_name":"Luca Paparusso","orcid":"https://orcid.org/0000-0003-1383-1877"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Paparusso","raw_affiliation_strings":["Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1383-1877","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070252862","display_name":"Navvab Kashiri","orcid":"https://orcid.org/0000-0002-1219-2447"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Navvab Kashiri","raw_affiliation_strings":["Humanoids and Human Centered Mechatronics lab, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1219-2447","affiliations":[{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics lab, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Humanoids and Human Centered Mechatronics lab, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9877-8237","affiliations":[{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics lab, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4792,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.65101954,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"5","issue":"4","first_page":"5779","last_page":"5786"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9973999857902527,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7945886254310608},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7460927367210388},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6961050033569336},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.6269888877868652},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6206981539726257},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5910530686378479},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5878645181655884},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5811888575553894},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5785158276557922},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5565184354782104},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5330407023429871},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5168083906173706},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5122601389884949},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.49286746978759766},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4716196358203888},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.44223445653915405},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38848865032196045},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29303133487701416},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21053466200828552},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11017704010009766},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08456313610076904}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7945886254310608},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7460927367210388},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6961050033569336},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6269888877868652},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6206981539726257},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5910530686378479},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5878645181655884},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5811888575553894},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5785158276557922},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5565184354782104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5330407023429871},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5168083906173706},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5122601389884949},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.49286746978759766},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4716196358203888},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.44223445653915405},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38848865032196045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29303133487701416},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21053466200828552},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11017704010009766},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08456313610076904},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.3010751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3010751","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:re.public.polimi.it:11311/1168567","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/1168567","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W825380","https://openalex.org/W1424654272","https://openalex.org/W1588241099","https://openalex.org/W1661708671","https://openalex.org/W1982446614","https://openalex.org/W2051410615","https://openalex.org/W2076048129","https://openalex.org/W2115091574","https://openalex.org/W2131292439","https://openalex.org/W2131666656","https://openalex.org/W2136415620","https://openalex.org/W2151521393","https://openalex.org/W2152421929","https://openalex.org/W2198582666","https://openalex.org/W2213594914","https://openalex.org/W2341848647","https://openalex.org/W2567328257","https://openalex.org/W2612636433","https://openalex.org/W2783126484","https://openalex.org/W2808007199","https://openalex.org/W2901136733","https://openalex.org/W2908526767","https://openalex.org/W2912365230","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2060165215","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W3212673989","https://openalex.org/W2078580336","https://openalex.org/W2954323201","https://openalex.org/W2583465206","https://openalex.org/W2001273675","https://openalex.org/W2127677850"],"abstract_inverted_index":{"Despite":[0],"the":[1,17,39,60,65,90,99,104,107,124,127,154,159,180,183],"development":[2],"of":[3,15,41,106,126,158,166,177,182],"numerous":[4],"trajectory":[5,44],"planners":[6],"based":[7,78],"on":[8,79],"computationally":[9],"fast":[10],"algorithms":[11],"targeting":[12,46],"accurate":[13],"motion":[14,71],"robots,":[16],"nowadays":[18],"robotic":[19,134],"applications":[20],"requiring":[21],"compliance":[22],"for":[23,112],"interaction":[24,152],"with":[25,33,64],"environment":[26],"demand":[27],"more":[28],"comprehensive":[29],"schemes":[30],"to":[31,69,88,118,164],"cope":[32],"unforeseen":[34],"situations.":[35],"This":[36],"letter":[37],"discusses":[38],"problem":[40],"online":[42],"Cartesian":[43,146],"planning,":[45],"a":[47,51,57,75,85,132,139,145,167,175],"final":[48],"state":[49,94],"in":[50,55,137,172,186],"desired":[52],"time":[53],"interval,":[54],"such":[56],"way":[58],"that":[59,165],"generated":[61,108],"trajectories":[62],"comply":[63],"tracking":[66,91],"abnormalities":[67],"due":[68,117],"considerable":[70],"disturbances.":[72],"We":[73],"propose":[74],"planning":[76],"scheme":[77,185],"Model":[80],"Predictive":[81],"Control.":[82],"It":[83],"utilises":[84],"novel":[86],"strategy":[87,161],"monitor":[89],"performance":[92,157],"via":[93,144],"feedback":[95],"and":[96],"consequently":[97],"update":[98],"trajectory.":[100],"Also,":[101],"it":[102],"ensures":[103],"continuity":[105],"reference":[109],"while":[110,149],"accounting":[111],"realistic":[113],"implementation":[114],"constraints,":[115],"particularly":[116],"computational":[119],"capacity":[120],"limits.":[121],"To":[122],"validate":[123],"efficacy":[125],"proposed":[128,160,184],"scheme,":[129],"we":[130],"examine":[131],"practical":[133],"manipulation":[135],"scenario":[136],"which":[138],"given":[140],"task":[141],"is":[142,170],"executed":[143],"impedance":[147],"controller,":[148],"an":[150],"external":[151],"interrupts":[153],"motion.":[155],"The":[156],"as":[162],"compared":[163],"state-of-the-art":[168],"study":[169],"demonstrated":[171],"simulation.":[173],"Finally,":[174],"set":[176],"experiments":[178],"verified":[179],"effectiveness":[181],"practice.":[187]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2020-07-29T00:00:00"}
