{"id":"https://openalex.org/W2744210136","doi":"https://doi.org/10.1109/romoco.2017.8003901","title":"Trajectory planning for mobile manipulators subject to control constraints","display_name":"Trajectory planning for mobile manipulators subject to control constraints","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2744210136","doi":"https://doi.org/10.1109/romoco.2017.8003901","mag":"2744210136"},"language":"en","primary_location":{"id":"doi:10.1109/romoco.2017.8003901","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2017.8003901","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 11th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5017758995","display_name":"Grzegorz Paj\u0105k","orcid":"https://orcid.org/0000-0002-3649-399X"},"institutions":[{"id":"https://openalex.org/I46305939","display_name":"University of Zielona G\u00f3ra","ror":"https://ror.org/04fzm7v55","country_code":"PL","type":"education","lineage":["https://openalex.org/I46305939"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Grzegorz Pajak","raw_affiliation_strings":["Faculty of Mechanical Engineering, University of Zielona Gora, Zielona Gora, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, University of Zielona Gora, Zielona Gora, Poland","institution_ids":["https://openalex.org/I46305939"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5017758995"],"corresponding_institution_ids":["https://openalex.org/I46305939"],"apc_list":null,"apc_paid":null,"fwci":0.1592,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.50209845,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"16","issue":null,"first_page":"117","last_page":"122"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9966999888420105,"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":0.803195595741272},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7931956052780151},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.7662416696548462},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.7240549325942993},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6766184568405151},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.619206428527832},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6003114581108093},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5550480484962463},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5268876552581787},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5130692720413208},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49404171109199524},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.47946298122406006},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4728814959526062},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4484168291091919},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43076786398887634},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.42058494687080383},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.401678204536438},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2406388223171234},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19809675216674805}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.803195595741272},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7931956052780151},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.7662416696548462},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.7240549325942993},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6766184568405151},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.619206428527832},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6003114581108093},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5550480484962463},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5268876552581787},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5130692720413208},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49404171109199524},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.47946298122406006},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4728814959526062},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4484168291091919},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43076786398887634},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.42058494687080383},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.401678204536438},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2406388223171234},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19809675216674805},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/romoco.2017.8003901","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2017.8003901","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 11th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"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":18,"referenced_works":["https://openalex.org/W71119328","https://openalex.org/W321772248","https://openalex.org/W1579644218","https://openalex.org/W1967753359","https://openalex.org/W1973256573","https://openalex.org/W1992653875","https://openalex.org/W1994691148","https://openalex.org/W2049410986","https://openalex.org/W2051155494","https://openalex.org/W2113265921","https://openalex.org/W2115621646","https://openalex.org/W2144489365","https://openalex.org/W2149012351","https://openalex.org/W2150499729","https://openalex.org/W2421052321","https://openalex.org/W2887270048","https://openalex.org/W6611176653","https://openalex.org/W6753683726"],"related_works":["https://openalex.org/W2042038080","https://openalex.org/W2107308837","https://openalex.org/W360452402","https://openalex.org/W2154502479","https://openalex.org/W2032711426","https://openalex.org/W4378942199","https://openalex.org/W71119328","https://openalex.org/W4249701897","https://openalex.org/W2147558862","https://openalex.org/W145109879"],"abstract_inverted_index":{"A":[0],"method":[1],"of":[2,23,37,61,71,99,109,114],"trajectory":[3,65,92],"planning":[4],"with":[5,33],"regards":[6],"to":[7,27,49,77,83],"control":[8,62],"constraints":[9,55],"for":[10,90],"mobile":[11,111],"manipulator":[12,112],"working":[13],"in":[14,45,68],"the":[15,24,38,100,106,110],"workspace":[16],"including":[17],"obstacles":[18],"is":[19,26,43,79,95,103],"presented.":[20],"The":[21,41,97],"task":[22],"robot":[25],"reach":[28],"a":[29,47,64,87],"specified":[30],"end-effector":[31],"position":[32],"high":[34],"manipulability":[35],"measure":[36],"holonomic":[39,121],"arm.":[40,122],"motion":[42],"planned":[44],"such":[46],"way":[48],"guarantee":[50],"that":[51],"mechanical":[52],"and":[53,119],"collision":[54],"are":[56,75],"satisfied.":[57],"To":[58],"ensure":[59],"fulfillment":[60],"limitations":[63],"scaling":[66,93],"approach":[67,102],"limited":[69],"periods":[70],"time,":[72],"when":[73],"controls":[74,86],"close":[76],"constraints,":[78],"used.":[80],"In":[81],"order":[82],"obtain":[84],"smooth":[85],"heuristic":[88],"rule":[89],"choosing":[91],"parameter":[94],"introduced.":[96],"effectiveness":[98],"proposed":[101],"confirmed":[104],"by":[105],"computer":[107],"simulations":[108],"consisting":[113],"(2,0)":[115],"class":[116],"nonholonomic":[117],"platform":[118],"3DOF":[120]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
