{"id":"https://openalex.org/W4412939562","doi":"https://doi.org/10.1109/lra.2025.3594987","title":"Dynamic Movement Primitives With Control Barrier Functions for Constrained Trajectory Planning","display_name":"Dynamic Movement Primitives With Control Barrier Functions for Constrained Trajectory Planning","publication_year":2025,"publication_date":"2025-08-04","ids":{"openalex":"https://openalex.org/W4412939562","doi":"https://doi.org/10.1109/lra.2025.3594987"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3594987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3594987","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/A5024784597","display_name":"Federico Vesentini","orcid":null},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Federico Vesentini","raw_affiliation_strings":["Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy","Department of Engineering for Innovation Medicine, University of Verona, Strada Le Grazie 15, Verona, Italy"],"raw_orcid":"https://orcid.org/0000-0002-0961-4928","affiliations":[{"raw_affiliation_string":"Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]},{"raw_affiliation_string":"Department of Engineering for Innovation Medicine, University of Verona, Strada Le Grazie 15, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082596393","display_name":"Daniele Meli","orcid":"https://orcid.org/0000-0002-3162-388X"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Meli","raw_affiliation_strings":["Department of Computer Science, University of Verona, Verona, Italy","Department of Computer Science, University of Verona, Strada Le Grazie 15, Verona, Italy"],"raw_orcid":"https://orcid.org/0000-0002-3162-388X","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]},{"raw_affiliation_string":"Department of Computer Science, University of Verona, Strada Le Grazie 15, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064503743","display_name":"Nicola Sansonetto","orcid":"https://orcid.org/0000-0003-3963-8581"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Sansonetto","raw_affiliation_strings":["Department of Computer Science, University of Verona, Verona, Italy","Department of Computer Science, University of Verona, Strada Le Grazie 15, Verona, Italy"],"raw_orcid":"https://orcid.org/0000-0003-3963-8581","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]},{"raw_affiliation_string":"Department of Computer Science, University of Verona, Strada Le Grazie 15, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082110029","display_name":"Luca Di Persio","orcid":"https://orcid.org/0000-0002-0317-4351"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Di Persio","raw_affiliation_strings":["Department of Computer Science, University of Verona, Verona, Italy","Department of Computer Science, University of Verona, Strada Le Grazie 15, Verona, Italy"],"raw_orcid":"https://orcid.org/0000-0002-0317-4351","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]},{"raw_affiliation_string":"Department of Computer Science, University of Verona, Strada Le Grazie 15, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001597507","display_name":"Riccardo Muradore","orcid":null},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Riccardo Muradore","raw_affiliation_strings":["Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy","Department of Engineering for Innovation Medicine, University of Verona, Strada Le Grazie 15, Verona, Italy"],"raw_orcid":"https://orcid.org/0000-0002-0287-6896","affiliations":[{"raw_affiliation_string":"Department of Engineering for Innovation Medicine, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]},{"raw_affiliation_string":"Department of Engineering for Innovation Medicine, University of Verona, Strada Le Grazie 15, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5024784597"],"corresponding_institution_ids":["https://openalex.org/I119439378"],"apc_list":null,"apc_paid":null,"fwci":1.0875,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.80033021,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"10","issue":"9","first_page":"9416","last_page":"9421"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9961000084877014,"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":0.9961000084877014,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9634000062942505,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9355999827384949,"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/trajectory","display_name":"Trajectory","score":0.7167598605155945},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.6507663726806641},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5308438539505005},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4964795708656311},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.419704407453537},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20161405205726624},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11908379197120667},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.054361045360565186}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7167598605155945},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.6507663726806641},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5308438539505005},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4964795708656311},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.419704407453537},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20161405205726624},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11908379197120667},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.054361045360565186},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3594987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3594987","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.46000000834465027,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W1980569135","https://openalex.org/W2056518977","https://openalex.org/W2110304639","https://openalex.org/W2149192758","https://openalex.org/W2414517470","https://openalex.org/W2505148191","https://openalex.org/W2560504659","https://openalex.org/W3016521739","https://openalex.org/W3038740010","https://openalex.org/W3094402048","https://openalex.org/W3128463899","https://openalex.org/W3128528928","https://openalex.org/W3131474428","https://openalex.org/W3135798748","https://openalex.org/W3163638304","https://openalex.org/W3181705464","https://openalex.org/W4220767832","https://openalex.org/W4281401846","https://openalex.org/W4304148160","https://openalex.org/W4361861254","https://openalex.org/W4376891105","https://openalex.org/W4385151992","https://openalex.org/W4391164440","https://openalex.org/W4393305345","https://openalex.org/W4403123342","https://openalex.org/W6801468180"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4323768008"],"abstract_inverted_index":{"Dynamic":[0],"Movement":[1,98],"Primitives":[2,99],"(DMPs)":[3],"form":[4,122],"a":[5,101,164],"robust":[6],"framework":[7,103],"for":[8,31,141],"trajectory":[9],"generation":[10],"based":[11],"on":[12,163],"imitation":[13],"learning,":[14],"aiming":[15],"to":[16,68,77,109,114,169,185],"replicate":[17],"the":[18,55,59,70,82,127,134,149],"shape":[19],"of":[20,72,136,153],"reference":[21],"trajectories":[22,112],"from":[23],"demonstrations":[24],"closely.":[25],"DMPs":[26,106,119],"have":[27],"been":[28],"extensively":[29],"employed":[30],"<italic":[32,45,52,170],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[33,46,53,171],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">trajectory":[34],"planning</i>":[35],"in":[36,120,160],"robotic":[37],"systems.":[38],"However,":[39],"they":[40],"cannot":[41],"safely":[42],"guarantee":[43],"complex":[44],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">nonlinear":[47,172],"constraints</i>,":[48,174],"which":[49],"is":[50],"essential":[51],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">at":[54],"control":[56],"level</i>.":[57],"On":[58],"other":[60],"hand,":[61],"Control":[62],"Barrier":[63],"Functions":[64],"(CBFs)":[65],"are":[66],"used":[67],"modulate":[69],"input":[71,129],"control-affine":[73,121],"dynamic":[74],"systems":[75],"subject":[76,113,168],"state-dependent":[78],"constraints,":[79],"guaranteeing":[80],"that":[81,104,146],"system":[83],"remains":[84],"within":[85],"predefined":[86],"safe":[87],"sets":[88],"while":[89],"converging":[90],"towards":[91],"target":[92],"states.":[93],"This":[94],"paper":[95],"proposes":[96],"Constrained":[97],"(CMPs),":[100],"novel":[102],"integrates":[105],"with":[107,126],"CBFs":[108,147],"generate":[110],"safe-by-construction":[111],"nonlinear":[115],"constraints.":[116],"We":[117,144],"represent":[118],"and":[123,162,181],"combine":[124],"them":[125],"closed-form":[128],"provided":[130],"by":[131],"CBFs,":[132],"overcoming":[133],"limitations":[135],"existing":[137],"iterative":[138],"optimisation":[139],"methods":[140],"constrained":[142],"DMPs.":[143,154],"demonstrate":[145],"preserve":[148],"goal":[150],"convergence":[151],"guarantees":[152],"Moreover,":[155],"we":[156],"validate":[157],"our":[158],"approach":[159],"simulation":[161],"real":[165],"mobile":[166],"robot":[167],"kinodynamic":[173],"concerning":[175],"maximum":[176,182],"Cartesian":[177],"velocity,":[178],"obstacle":[179],"avoidance,":[180],"centrifugal":[183],"acceleration":[184],"avoid":[186],"slippery":[187],"over":[188],"curved":[189],"trajectories.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}