{"id":"https://openalex.org/W4417252001","doi":"https://doi.org/10.1109/lra.2025.3643297","title":"Real-Time Velocity Profile Optimization for Time-Optimal Maneuvering With Generic Acceleration Constraints","display_name":"Real-Time Velocity Profile Optimization for Time-Optimal Maneuvering With Generic Acceleration Constraints","publication_year":2025,"publication_date":"2025-12-11","ids":{"openalex":"https://openalex.org/W4417252001","doi":"https://doi.org/10.1109/lra.2025.3643297"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3643297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3643297","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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://iris.unitn.it/bitstream/11572/471390/2/Real-Time_Velocity_Profile_Optimization_for_Time-Optimal_Maneuvering_With_Generic_Acceleration_Constraints.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102864166","display_name":"Mattia Piazza","orcid":"https://orcid.org/0000-0003-0182-5867"},"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":"Mattia Piazza","raw_affiliation_strings":["Department of Industrial Engineering, University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0182-5867","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037618668","display_name":"Mattia Piccinini","orcid":"https://orcid.org/0000-0003-0457-8777"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mattia Piccinini","raw_affiliation_strings":["Professorship of Autonomous Vehicle Systems, Technical University of Munich, Garching, Germany"],"raw_orcid":"https://orcid.org/0000-0003-0457-8777","affiliations":[{"raw_affiliation_string":"Professorship of Autonomous Vehicle Systems, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092372456","display_name":"Sebastiano Taddei","orcid":"https://orcid.org/0000-0003-3774-4137"},"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":"Sebastiano Taddei","raw_affiliation_strings":["Department of Industrial Engineering, University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0003-3774-4137","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, 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"],"raw_orcid":"https://orcid.org/0000-0001-8098-7965","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/A5120776443","display_name":"Enrico Berolazzi","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":"Enrico Bertolazzi","raw_affiliation_strings":["Department of Industrial Engineering, University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0487-5210","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering, University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.308,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.57554861,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"11","issue":"2","first_page":"1674","last_page":"1681"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.3792000114917755,"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"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.3792000114917755,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.33739998936653137,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.09030000120401382,"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/acceleration","display_name":"Acceleration","score":0.7964000105857849},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6940000057220459},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6754000186920166},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.5317000150680542},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5273000001907349},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.47350001335144043},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4120999872684479},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.3903000056743622}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7964000105857849},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6940000057220459},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6754000186920166},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.5317000150680542},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5273000001907349},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5206000208854675},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47350001335144043},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4120999872684479},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3903000056743622},{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.37450000643730164},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.35249999165534973},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3440999984741211},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3124000132083893},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3043000102043152},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.30309998989105225},{"id":"https://openalex.org/C158154518","wikidata":"https://www.wikidata.org/wiki/Q7310970","display_name":"Relevance (law)","level":2,"score":0.3010999858379364},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.29809999465942383},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.29330000281333923},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2856000065803528},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28060001134872437},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2793000042438507},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.257099986076355},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.25600001215934753}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3643297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3643297","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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:11572/471390","is_oa":true,"landing_page_url":"https://hdl.handle.net/11572/471390","pdf_url":"https://iris.unitn.it/bitstream/11572/471390/2/Real-Time_Velocity_Profile_Optimization_for_Time-Optimal_Maneuvering_With_Generic_Acceleration_Constraints.pdf","source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of 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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:iris.unitn.it:11572/471390","is_oa":true,"landing_page_url":"https://hdl.handle.net/11572/471390","pdf_url":"https://iris.unitn.it/bitstream/11572/471390/2/Real-Time_Velocity_Profile_Optimization_for_Time-Optimal_Maneuvering_With_Generic_Acceleration_Constraints.pdf","source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of 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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4417252001.pdf","grobid_xml":"https://content.openalex.org/works/W4417252001.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0],"computation":[1,75],"of":[2,139],"time-optimal":[3],"velocity":[4,86],"profiles":[5],"along":[6],"prescribed":[7],"paths,":[8],"subject":[9],"to":[10,25,83,136],"generic":[11],"acceleration":[12,35,110],"constraints,":[13,67],"is":[14,164],"a":[15,52],"crucial":[16],"problem":[17],"in":[18,88],"robot":[19],"trajectory":[20,156],"planning,":[21],"with":[22,60,112,147],"particular":[23],"relevance":[24],"autonomous":[26],"racing.":[27],"However,":[28],"the":[29,85],"existing":[30],"methods":[31],"either":[32],"support":[33],"arbitrary":[34],"constraints":[36,45,111],"at":[37],"high":[38,71,144],"computational":[39,47],"cost":[40],"or":[41],"use":[42],"conservative":[43],"box":[44],"for":[46,153],"efficiency.":[48],"We":[49],"propose":[50],"FBGA,":[51],"new":[53],"<underline":[54,61,64],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[55,57,62,65,127,130,161,168],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">F</u>orward-<underline":[56],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">B</u>ackward":[58],"algorithm":[59],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">G</u>eneric":[63],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">A</u>cceleration":[66],"which":[68],"achieves":[69],"both":[70],"accuracy":[72,145],"and":[73,80,102,117],"low":[74],"time.":[76],"FBGA":[77,106,142],"operates":[78],"forward":[79],"backward":[81],"passes":[82],"maximize":[84],"profile":[87],"short,":[89],"discretized":[90],"path":[91],"segments,":[92],"while":[93,133],"satisfying":[94],"user-defined":[95],"performance":[96],"limits.":[97],"Tested":[98],"on":[99],"five":[100],"racetracks":[101],"two":[103],"vehicle":[104],"classes,":[105],"handles":[107],"complex,":[108],"non-convex":[109],"custom":[113],"formulations.":[114],"Its":[115],"maneuvers":[116],"lap":[118],"times":[119],"closely":[120],"match":[121],"optimal":[122],"control":[123],"baselines":[124],"(within":[125],"<inline-formula":[126],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[128,131],"notation=\"LaTeX\">$0.11\\%$</tex-math></inline-formula>-<inline-formula":[129],"notation=\"LaTeX\">$0.36\\%$</tex-math></inline-formula>),":[132],"being":[134],"up":[135],"three":[137],"orders":[138],"magnitude":[140],"faster.":[141],"maintains":[143],"even":[146],"coarse":[148],"discretization,":[149],"making":[150],"it":[151],"well-suited":[152],"online":[154],"multi-query":[155],"planning.":[157],"Our":[158],"open-source":[159],"<monospace":[160],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">C++</monospace>":[162],"implementation":[163],"available":[165],"at:":[166],"<uri":[167],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/DRIVEWISE/FBGA</uri>.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-12-11T00:00:00"}