{"id":"https://openalex.org/W7155221444","doi":"https://doi.org/10.1109/lra.2026.3686597","title":"Speed-Optimized Motion Planning for Robotic Object Handling via Constrained Linear Convex Optimization","display_name":"Speed-Optimized Motion Planning for Robotic Object Handling via Constrained Linear Convex Optimization","publication_year":2026,"publication_date":"2026-04-22","ids":{"openalex":"https://openalex.org/W7155221444","doi":"https://doi.org/10.1109/lra.2026.3686597"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3686597","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3686597","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://doi.org/10.1109/lra.2026.3686597","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089466498","display_name":"Yousef Farid","orcid":"https://orcid.org/0000-0003-4310-3934"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Yousef Farid","raw_affiliation_strings":["Dipartimento di Ingegneria dell&#x2019;Informazione e Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-4310-3934","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell&#x2019;Informazione e Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036325234","display_name":"Marco Baracca","orcid":"https://orcid.org/0000-0002-5724-4159"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Baracca","raw_affiliation_strings":["Dipartimento di Ingegneria dell&#x2019;Informazione e Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5724-4159","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell&#x2019;Informazione e Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086240277","display_name":"Giorgio Simonini","orcid":"https://orcid.org/0009-0006-4696-5889"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Simonini","raw_affiliation_strings":["Dipartimento di Ingegneria dell&#x2019;Informazione e Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0009-0006-4696-5889","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell&#x2019;Informazione e Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059131700","display_name":"Paolo Salaris","orcid":"https://orcid.org/0000-0003-1313-5898"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Salaris","raw_affiliation_strings":["Dipartimento di Ingegneria dell&#x2019;Informazione e Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1313-5898","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell&#x2019;Informazione e Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1300504238"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.50720821,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"6","first_page":"7308","last_page":"7315"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.3804999887943268,"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":0.3804999887943268,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.3046000003814697,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0608999989926815,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/motion-planning","display_name":"Motion planning","score":0.4772999882698059},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4643999934196472},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.4327000081539154},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42399999499320984},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.3686999976634979},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.36640000343322754},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.3513999879360199},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34470000863075256}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.531000018119812},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4772999882698059},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4643999934196472},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.4327000081539154},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42399999499320984},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.3686999976634979},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.36640000343322754},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3662000000476837},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3580000102519989},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3522000014781952},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3513999879360199},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34470000863075256},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3301999866962433},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.32919999957084656},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31940001249313354},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.3102000057697296},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29089999198913574},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.28610000014305115},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27959999442100525},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.26840001344680786},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2621000111103058},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26010000705718994},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25769999623298645},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2535000145435333},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.2524999976158142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3686597","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3686597","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2026.3686597","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3686597","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5291656851768494,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1926428750","https://openalex.org/W2337407423","https://openalex.org/W2343568200","https://openalex.org/W2530002552","https://openalex.org/W2553480184","https://openalex.org/W2902825402","https://openalex.org/W2962705926","https://openalex.org/W2963092423","https://openalex.org/W2964057747","https://openalex.org/W3014355579","https://openalex.org/W3048351880","https://openalex.org/W3130728025","https://openalex.org/W3135593740","https://openalex.org/W4280637141","https://openalex.org/W4285240788","https://openalex.org/W4316013177","https://openalex.org/W4390421999","https://openalex.org/W4391168181","https://openalex.org/W4391407088","https://openalex.org/W4394698817","https://openalex.org/W4409536891"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,84,94,131,137,141],"framework":[4,97],"for":[5],"speed-optimized":[6,44],"motion":[7],"planning":[8,46],"in":[9],"robotic":[10],"object":[11,34,146],"handling,":[12,147],"including":[13,148],"dynamic":[14,124],"throwing":[15,29,149],"and":[16,55,68,83,104,123,127,150],"pick-and-place":[17],"with":[18,76,101,136],"obstacle":[19],"avoidance":[20],"tasks.":[21],"An":[22],"S-curve-based":[23],"optimization":[24],"algorithm":[25],"first":[26],"computes":[27],"optimal":[28],"configurations":[30],"to":[31,47,60,112],"ensure":[32],"accurate":[33],"landing.":[35],"A":[36],"two-stage":[37],"trajectory":[38,45,58],"generation":[39],"strategy":[40],"is":[41],"adopted:":[42],"(1)":[43],"compute":[48],"time-efficient":[49],"velocity":[50],"profiles":[51],"under":[52],"physical":[53],"constraints,":[54],"(2)":[56],"B-spline-based":[57],"smoothing":[59],"produce":[61],"smooth":[62],"joint":[63,122],"trajectories.":[64],"Velocity,":[65],"acceleration,":[66],"torque,":[67],"jerk":[69,89],"constraints":[70,108],"are":[71],"reformulated":[72],"as":[73,140],"convex":[74,85,106],"problems,":[75],"cubic":[77,102],"B-splines":[78],"representing":[79],"the":[80,99,110],"squared":[81],"pseudo-velocity":[82],"relaxation":[86],"addressing":[87],"non-convex":[88],"limits.":[90,125],"For":[91],"obstacle-aware":[92],"motions,":[93],"discrete":[95],"LP":[96,116],"parameterizes":[98],"path":[100],"polynomials":[103],"enforces":[105],"polyhedral":[107],"on":[109,130],"end-effector":[111],"maintain":[113],"safety.":[114],"The":[115],"maximizes":[117],"traversal":[118],"speed":[119],"while":[120],"satisfying":[121],"Simulation":[126],"real-world":[128],"tests":[129],"Franka":[132],"Emika":[133],"Panda":[134],"robot":[135],"qb":[138],"SoftHand":[139],"gripper":[142],"show":[143],"precise,":[144],"fast":[145],"PnP":[151],"operations.":[152]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-04-23T00:00:00"}
